JPWO2013008310A1 - robot hand and robot - Google Patents

robot hand and robot Download PDF

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JPWO2013008310A1
JPWO2013008310A1 JP2011065846A JP2013523734A JPWO2013008310A1 JP WO2013008310 A1 JPWO2013008310 A1 JP WO2013008310A1 JP 2011065846 A JP2011065846 A JP 2011065846A JP 2013523734 A JP2013523734 A JP 2013523734A JP WO2013008310 A1 JPWO2013008310 A1 JP WO2013008310A1
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joint
robot hand
joints
robot
tension
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JP2011065846A
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裕光 赤江
裕光 赤江
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株式会社安川電機
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Abstract

It is an object of the present invention to provide a robot hand and a robot that are small and light and can reliably hold various workpieces. In order to solve this problem, the robot hand and the robot each include a plurality of joint portions that rotate around rotation axes parallel to each other, and a plurality of links that are connected one by one from the tip through the joint portions described above. A tension member that rotates adjacent joints in conjunction with each other, and a single drive source that drives and rotates only the joints at the ends of the joints.

Description

  The present invention relates to a robot hand and a robot.
  Conventionally, there has been known a robot hand that is provided at a terminal movable portion of an articulated arm of a robot and grips a workpiece that is a gripping target. Such a robot hand has, for example, a plurality of finger mechanisms that imitate human fingers, and performs a gripping operation by sandwiching a workpiece with such finger mechanisms.
  Incidentally, in recent years, the variety of shapes and sizes of such workpieces has increased. In view of this, a technique has been proposed in which the above-described finger mechanism is articulated to increase the degree of freedom of the finger mechanism and meet the variety of workpieces.
  Here, in such multi-joint, each of the joints may be driven by an individual drive source. However, in such a case, the weight of the work that can be gripped is restricted because the weight of the robot hand is increased. Absent.
  Therefore, Patent Document 1 and Patent Document 2 disclose a robot hand provided with a power transmission mechanism of a so-called underdrive system that operates each joint in conjunction with the power of one drive source. Such a robot hand has one drive source by means of a gear train (hereinafter referred to as “gear train”) arranged so as to mesh with each other along a finger body or a finger corresponding to the above-described finger mechanism. The power is transmitted and each joint is operated.
  Thereby, the robot hand can reduce the number of drive sources to be mounted and can be reduced in weight.
JP 2010-064185 A JP 2008-049456 A
  However, when the prior art is used, the gear train itself, which is a power transmission mechanism, requires a certain amount of installation space.
  The disclosed technology has been made in view of the above, and an object of the present invention is to provide a robot hand and a robot that are small and lightweight and can reliably hold various workpieces.
  In one aspect, a robot hand and a robot disclosed in the present application are, in one aspect, a plurality of joint portions that rotate about rotation axes parallel to each other, a plurality of links that are connected via the joint portions, and the adjacent joint portions. It is characterized by comprising a tension member that interlocks the rotation of the lens and one drive source that drives and rotates the joint portion at the end.
  According to one aspect of the robot hand and the robot disclosed in the present application, the robot hand is small and lightweight, and can securely hold various workpieces.
FIG. 1A is a side view of a robot including the robot hand according to the first embodiment. FIG. 1B is a front view of the robot including the robot hand according to the first embodiment. FIG. 2 is a perspective view of the robot hand according to the first embodiment. FIG. 3 is a front view of the finger mechanism included in the robot hand according to the first embodiment. FIG. 4A is a side view of the finger mechanism in the initial posture. FIG. 4B is a simplified side view of the finger mechanism in the first operating posture. FIG. 4C is a simplified side view of the finger mechanism in the second operating posture. FIG. 5 is a side view of the finger mechanism in the initial posture according to the second embodiment. FIG. 6 is a side view of the operating posture of the finger mechanism according to the second embodiment.
  Hereinafter, embodiments of a robot hand and a robot disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by the illustration in each Example shown below.
  Hereinafter, a member corresponding to a finger when the robot hand is regarded as a human hand is referred to as a “finger mechanism”. A member included in the “finger mechanism” and corresponding to a phalanx that is a so-called link of a finger is referred to as a “finger part”. In the following description, what corresponds to the thumb is not included in the “finger mechanism”, and is particularly referred to as a “thumb part”.
  Hereinafter, an example in which a circular pulley is attached to the rotary joint of the finger mechanism will be described as Example 1, and an example in which the pulley is non-circular will be described as Example 2.
  First, an outline of a robot including the robot hand according to the first embodiment will be described with reference to FIGS. 1A and 1B. FIG. 1A is a side view of the robot 10 including the robot hand 20 according to the first embodiment, and FIG. 1B is a front view of the robot 10 including the robot hand 20 according to the first embodiment.
  1A and 1B show a three-dimensional orthogonal coordinate system including the Z axis with the vertical direction as the positive direction for easy understanding. Such an orthogonal coordinate system may be shown in other drawings used in the following description.
  Moreover, below, about the component comprised by 1 pair, a code | symbol may be attached | subjected only to each member of one side of a pair, and provision of a code | symbol may be abbreviate | omitted about the other. In such a case, both configurations shall be the same.
  As illustrated in FIG. 1A, the robot 10 according to the first embodiment includes a main body 10a, an arm 10b, and a leg 10c. The main body portion 10a is a main body portion of the robot 10 and is a mechanism corresponding to a human torso.
  The arm portion 10b is a so-called multi-joint arm attached to the side surface of the main body portion 10a, and has a robot hand 20 as an end effector at a terminal movable portion. The leg portion 10c is a mechanism that is disposed below the main body portion 10a and that causes the robot 10 to advance along the X-axis direction or to turn around an axis substantially parallel to the Z-axis.
  As shown in FIG. 1B, when viewed from the positive direction of the X axis, the robot 10 includes a pair of arm portions 10b. That is, the robot 10 is a so-called double-arm robot. As shown in FIG. 1B, the mechanism portion of the arm portion 10 b can be protected by covering the arm portion 10 b with an arm cover 10 b ′ made of a material such as FRP (Fiber Reinforced Plastics).
  As shown in FIG. 1B, a pressure sensor 10d, a temperature sensor (not shown), or the like can be attached to the arm cover 10b ′. For example, contact with an obstacle is detected, and the obstacle is detected. It is possible to perform control such as avoiding movement.
  As shown in FIG. 1B, the robot 10 can include various devices related to a user interface such as a display monitor 10e that outputs display information and the like.
  Next, a configuration example of the robot hand 20 according to the first embodiment will be described with reference to FIG. FIG. 2 is a perspective view of the robot hand 20 according to the first embodiment. FIG. 2 shows a robot hand 20 corresponding to the left hand when the robot 10 (see FIG. 1B) is viewed from the positive direction of the X axis.
  As shown in FIG. 2, the robot hand 20 according to the first embodiment is attached to the terminal movable portion 10ba of the arm portion 10b. Here, the terminal movable portion 10ba can rotate around the axis AXp shown in FIG. Therefore, the robot hand 20 also rotates in accordance with the rotation of the terminal movable portion 10ba.
  As shown in FIG. 2, the robot hand 20 includes a finger mechanism 21 and a thumb portion 22. The robot hand 20 sandwiches a workpiece as a gripping object between the finger mechanism 21 and the thumb portion 22 and grips the workpiece.
  Hereinafter, the operation direction of the finger mechanism 21 when the workpiece is gripped, that is, the direction in which the finger mechanism 21 tries to contact the workpiece from now on, is referred to as “gripping direction”. In the following description, the rotational drive in the gripping direction may be referred to as “forward rotation drive”, and the rotational drive opposite to the “forward rotation drive” may be referred to as “reverse rotation drive”.
  Here, a configuration example of the robot hand 20 will be described in more detail, particularly the finger mechanism 21 with reference to FIG. FIG. 3 is a front view of the finger mechanism 21 provided in the robot hand 20 according to the first embodiment.
  As shown in FIG. 3, the finger mechanism 21 includes a fixing portion 21a, a first phalangeal portion 21b, and a second phalangeal portion 21c.
  The fixed part 21a is a member fixed to the terminal movable part 10ba (see FIG. 2). An actuator 21f that is rotationally driven is disposed in the fixed portion 21a.
  The first phalanx portion 21b is a member corresponding to a phalanx corresponding to the base of a human finger, and has two sets of bearings including bearings (not shown) for reducing friction.
  Of the two sets of bearings, one of the sets of bearings supports a rotation shaft around the axis AXx1 including the output shaft of the actuator 21f. Hereinafter, the movable mechanism including the bearing and the rotation shaft around the axis AXx1 is referred to as “first joint portion 21d”.
  That is, the first phalanx part 21b is rotatably connected to the fixing part 21a via the first joint part 21d. A drive pulley 21g is fixed to the output shaft of the actuator 21f. Note that, when viewed from the X-axis direction, the shape of the drive pulley 21g is circular.
  Further, a torsion spring 21l as a biasing member that biases the first finger segment 21b in the gripping direction can be disposed between the fixed portion 21a and the first finger segment 21b. The torsion spring 21l will be described in detail when the operation of the finger mechanism 21 described later is described.
  Of the two sets of bearings described above, the other set of bearings supports a rotation shaft around the axis AXx2 of the second finger segment 21c. Hereinafter, the movable mechanism including the bearing and the rotation shaft around the axis AXx2 will be referred to as “second joint portion 21e”.
  That is, the second phalanx part 21c is rotatably connected to the first phalanx part 21b via the second joint part 21e. The second phalanx part 21c is a member corresponding to a phalanx corresponding to a human fingertip.
  Further, a driven pulley 21h is fixed to one end of the rotation shaft of the second phalanx portion 21c so as to be juxtaposed with the drive pulley 21g. Note that, when viewed from the X-axis direction, the shape of the driven pulley 21h is also circular.
  And between the 1st joint part 21d and the 2nd joint part 21e is connected by the tension of a wire.
  Specifically, as shown in FIG. 3, the forward rotation drive wire 21i is stretched by being fixed to one end of the drive pulley 21g and the other end to the end portion 21k provided on the second finger segment 21c. The At this time, the forward rotation drive wire 21i is wound in the same direction and fixed without slipping in the drive pulley 21g and the driven pulley 21h.
  Similarly, the reverse drive wire 21j is stretched with one end fixed to the drive pulley 21g and the other end fixed to the end portion 21k. At this time, the reverse drive wire 21j is wound in the opposite direction to the normal drive wire 21i in each of the drive pulley 21g and the driven pulley 21h, and is fixed without slipping.
  Thereby, the rotational drive of the actuator 21f is transmitted to the rotation shafts of the first joint portion 21d and the second joint portion 21e without slipping.
  When the first joint portion 21d and the second joint portion 21e are connected in this way, the torque generated in each of the first joint portion 21d and the second joint portion 21e by the rotational drive of the actuator 21f is the output torque of the actuator 21f. Are distributed in accordance with the ratio of the radius of the driving pulley 21g and the radius of the driven pulley 21h.
  In addition, here, an example in which a wire is stretched has been taken up, but any stretchable member may be used, and a timing belt or the like may be used. In addition, the end portion 21k described above may include a mechanism that not only fixes one end of the forward drive wire 21i and the reverse drive wire 21j but also adjusts the effective length of both wires.
  Next, the operation of the robot hand 20 according to the first embodiment will be described with reference to FIGS. 4A, 4B, and 4C. 4A is a side view of the finger mechanism 21 in the initial posture. 4B is a simplified side view of the finger mechanism 21 in the first operating posture. 4C is a simplified side view of the finger mechanism 21 in the second operating posture.
  In addition, as shown to FIG. 4A-FIG. 4C, when seeing from the positive direction of an X-axis, the rotation to a grasping direction points clockwise.
  As shown in FIG. 4A, when the finger mechanism 21 is not performing a gripping operation, the rotation axes of both the first joint portion 21d and the second joint portion 21e are on an axis AXz substantially parallel to the Z axis. Take an initial posture to place.
  Such an initial posture is maintained by the tension of the forward rotation drive wire 21i and the reverse rotation drive wire 21j that are stretched. As already described with reference to FIG. 3, the first phalanx portion 21b is configured to pivotally support the output shaft of the actuator 21f and the rotation shaft of the second phalangeal portion 21c with corresponding bearings. It is a member.
  In other words, the first phalanx part 21b is a member that does not follow the rotation even if both the axes rotate.
  However, the direction of the first phalanx portion 21b is fixed along the axis AXz by the tension of the forward drive wire 21i and the reverse drive wire 21j, and the first phalanx portion 21b is passed through the drive pulley 21g and the driven pulley 21h. It can be considered that it is integrated with the second phalanx part 21c.
  Here, it is assumed that the actuator 21f of the fixed portion 21a is driven to rotate forward along with the start of the gripping operation. The forward rotation of the actuator 21f first generates torque for the first joint portion 21d.
  As shown in FIG. 4B, the torque generated in the first joint portion 21d is centered on the rotation axis of the first joint portion 21d, and the driving pulley 21g and the first phalanx portion integrated with the driving pulley 21g. 21b and the second phalanx part 21c are rotated in the gripping direction 300 until the first phalanx part 21b contacts the workpiece 100.
For convenience of the following description, as shown in FIG. 4B, the link length of the first phalangeal part 21b is “L 1 ”, and the workpiece 100 in the first phalangeal part 21b from the rotation axis of the first joint part 21d The distance to the gripping point k 1, which is the contact point, is defined as “L 1 ”, and the rotation angle of the first joint portion 21 d when contacting the workpiece 100 is defined as “θ 1 ”.
Here, the first finger knuckles 21b in contact with the workpiece 100 at gripping point k 1 is a that is restricted to its movable. In such a state, the torque of the first joint portion 21d causes the drive pulley 21g to wind the forward rotation drive wire 21i (see FIG. 4A), and is driven to the driven pulley 21h by the tension applied during the winding. The driving force of the pulley 21g is transmitted. That is, torque is generated for the second joint portion 21e.
  Then, as shown in FIG. 4C, the torque generated in the second joint portion 21e releases the aforementioned integration, and only the second phalangeal portion 21c is centered on the rotation axis of the second joint portion 21e. Rotate in the gripping direction 400 until touching.
In the following for convenience of explanation, as shown in FIG. 4C, the distance from the axis of rotation of the second joint portion 21e until gripping point k 2 is the point of contact with the workpiece 100 in the second phalanx portion 21c 'L' 2 ”and the rotation angle of the second joint portion 21 e with respect to the axis AXyz when contacting the workpiece 100 are defined as“ θ 2 ”, respectively.
  That is, as shown in FIG. 4A to FIG. 4C, the finger mechanism 21 sequentially moves from the first phalanx part 21b corresponding to the base of the finger to the second phalanx part 21c corresponding to the fingertip during the gripping operation of the workpiece 100. A “following operation” is performed to match the shape of the workpiece 100.
With such “following operation”, the workpiece 100 can be supported at multiple points such as the gripping point k 1 and the gripping point k 2, so that the workpiece 100 of various shapes and sizes can be securely gripped. It becomes.
Incidentally, as shown in FIG. 4C, the torque T 1 of the first joint portion 21d when the first finger knuckles 21b and the second finger knuckles and 21c respectively contact the workpiece 100, the first finger knuckles 21b M 1 , the mass of the second phalanx portion 21 c is m 2 , and the gravitational acceleration is g, for example, the sum of the torque based on the gripping point k 1 and the torque based on the gripping point k 2 ,
It can be calculated by equation (1).
Further, likewise the torque T 2 of the second joint portion 21e, for example,
It can be calculated by equation (2).
  By the way, when the finger mechanism 21 performs the “following operation”, it is preferable to prevent only the second phalanx part 21c from rotating in advance. In other words, it is preferable that the integrated first phalanx part 21b and second phalanx part 21c are reliably rotated in advance.
This can be realized by applying a predetermined biasing force (that is, elastic force) possessed by the torsion spring 21l (see FIG. 3) to the torque of the first joint portion 21d. Specifically, when the torque that urges by the elastic force of the torsion spring 21l was T b,
The first torsion spring 21l having the elastic force that satisfies the condition of the expression (3) is stored in the first position in the operating posture so that the elastic force is accumulated between the fixed portion 21a and the first phalanx portion 21b in the initial posture. What is necessary is just to arrange | position so that the phalanx part 21b may be urged | biased in the grasping direction 300 (refer FIG. 4B).
In addition, the right side of Expression (3) is maximized when the gripping operation is started from the initial posture. That is, when cos θ 1 = 1 and cos (θ 1 + θ 2 ) = 1 that are most affected by gravity, and if this is applied to the right side of Equation (3),
Equation (4) indicating the gravity compensation condition can be obtained.
  Therefore, by providing the torsion spring 21l having an elastic force that satisfies the condition of the expression (4), the finger mechanism 21 can be surely performed the “following operation”.
Incidentally, the pressing force P 1 of the first finger knuckles 21b in the operating position shown in FIG. 4C, for example, the torque applied to the first joint portion 21d based on only the first finger knuckles 21b, until gripping point k 1 Divide by distance L 1
It can be calculated by equation (5).
Similarly, for the pressing force P 2 of the second phalanx portion 21c in the operating position shown in FIG. 4C, for example, the torque applied to the second joint portion 21e on the basis of only the second phalanx portion 21c, gripping point divided by the distance L '2 of up to k 2, of the following,
It can be calculated by equation (6).
  As described above, the robot hand and the robot according to the first embodiment include the first joint portion and the second joint portion that rotate around the rotation axes parallel to each other, and the first joint portion and the second joint portion, respectively. Only the first and second phalanxes to be coupled, the normal rotation drive wire and the reverse rotation drive wire that rotate the adjacent first joint and second joint in conjunction with each other, and only the first joint. One actuator to be rotated.
  The robot hand and the robot according to the first embodiment apply tension to the forward rotation driving wire when the movement of the robot hand and the robot is restricted due to the first phalanx being in contact with the workpiece. Thus, the second joint portion is interlocked, and the second phalanx portion is rotated until it contacts the workpiece.
  Therefore, according to the robot hand and the robot according to the first embodiment, various workpieces can be reliably gripped while being small and light. When releasing the workpiece, the actuator may be driven in reverse.
  By the way, in the first embodiment described above, the output torque of the actuator that is the drive source is basically distributed according to the ratio of the radius of the drive pulley and the radius of the driven pulley in the first joint portion and the second joint portion. The point which becomes what was done was described.
  Moreover, in Example 1 mentioned above, when the 1st phalanx part and the 2nd phalanx part contact | connect the workpiece | work, respectively, the torque concerning a 1st joint part and a 2nd joint part (henceforth "load torque" is described. ) Shows the points displaced by the distance to each gripping point and the rotation angle of each joint (see Formula (1) and Formula (2)).
  For these points, in order to maintain a stable gripping posture in the gripping operation, it is ideal that the ratio of the output torque to be distributed and the ratio of the load torque to be displaced are always balanced. .
  Therefore, in the second embodiment described below, a case where the ratio of the output torque and the ratio of the load torque are always balanced by a non-circular pulley will be described with reference to FIGS.
  FIG. 5 is a side view of the finger mechanism 21 ′ in the initial posture according to the second embodiment. FIG. 6 is a side view of the finger mechanism 21 'according to the second embodiment in the operating posture. 5 and FIG. 6, the same components as those of the finger mechanism 21 according to the first embodiment shown in FIG. 3 and FIGS. 4A to 4C are denoted by the same reference numerals and overlapped with the first embodiment. The description of the constituent elements to be performed will be omitted or only a brief description.
  As shown in FIG. 5, the finger mechanism 21 ′ is different from the finger mechanism 21 according to the first embodiment described above in that a non-circular pulley 200 is provided instead of the driven pulley 21 h (see FIG. 4A). Further, as shown in FIG. 5, the finger mechanism 21 according to the first embodiment is different in that it further includes a spring 201 and a tensioner 202.
  Similar to the case of the driven pulley 21h (see FIG. 4A), the non-circular pulley 200 is fixed to one end of the rotation shaft of the second phalanx portion 21c, and a forward rotation drive wire 21i and a reverse rotation drive wire are arranged on the outer peripheral surface thereof. 21j is wound.
  The spring 201 is a member that always presses the tensioner 202 against the forward drive wire 21i and the reverse drive wire 21j by its elastic force.
  The tensioner 202 is a tension holding member that holds the tension by always slacking the forward drive wire 21i and the reverse drive wire 21j by being pressed against the forward drive wire 21i and the reverse drive wire 21j by the spring 201. Further, by maintaining the tension, it is possible to prevent the forward drive wire 21i and the reverse drive wire 21j from dropping from each pulley.
As shown in FIG. 6, the non-circular pulley 200 rotates while changing the effective diameter R 2 in accordance with the rotation angle θ 2 of the second joint portion 21 e when torque is generated in the second joint portion 21 e. It will be. At this time, the change in the tension of the forward drive wire 21 i and the reverse drive wire 21 j due to the change in the effective diameter R 2 of the non-circular pulley 200 is absorbed by the tensioner 202 pressed by the spring 201.
Here, the effective diameter R 2 of the non-circular pulley 200 in accordance with the rotation angle theta 2 of the second joint portion 21e, for example, can be determined as follows. Here, the drive pulley 21g is assumed to be circular, its radius is assumed to exhibit a radius R 1. The link length L 1 of the first finger knuckles 21b, and, for the distance L '2 from the axis of rotation of the second joint portion 21e until gripping point k 2, and as in the first embodiment described above.
First, as shown in Example 1 described above, based on the equation (1) and (2), the ratio between the load torque T 2 in which the load torque T 1 of the first joint portion 21d of the second joint section 21e ,
It can be expressed by equation (7).
Here, it takes the load torque T 1 and the ratio of the load torque T 2, since desired to balance always the ratio of the output torque of the above-described distribution, the radius R 1 of the drive pulley 21g and the left-hand side of equation (7) substituting the ratio of the effective diameter R 2 of the non-circular pulley 200,
The relational expression of Expression (8) can be derived.
And when solving the relational expression of the equation (8) for the effective diameter R 2 ,
Equation (9) can be derived. In other words, the shape of the non-circular pulley 200 can be adjusted in advance by obtaining the effective diameter R 2 corresponding to the rotation angle θ 2 of the second joint portion 21e by the equation (9).
  As a result, the finger mechanism 21 'can always be kept in a stable gripping posture, so that various workpieces can be reliably gripped while being small and light. In addition, since it can be applied to a picking operation in which a small part is picked up by a stable gripping posture, a robot hand with a wide application range and rich versatility can be provided.
  As described above, the robot hand and the robot according to the second embodiment include the first joint portion and the second joint portion that rotate around the rotation axes parallel to each other, and the first joint portion and the second joint portion, respectively. Only the first and second phalanxes to be coupled, the normal rotation drive wire and the reverse rotation drive wire that rotate the adjacent first joint and second joint in conjunction with each other, and only the first joint. One actuator to be rotated.
  Further, the robot hand and the robot according to the second embodiment each have a driving pulley at one end of the first joint portion and a non-circular pulley at one end of the second joint portion, and the shape of the non-circular pulley is the rotation of the actuator. At the time of driving, the ratio of the output torque of the actuator distributed between the first joint part and the second joint part is adjusted in advance so as to be always constant according to the displacement of the rotation angle of the second joint part.
  Therefore, according to the robot hand and the robot according to the second embodiment, various workpieces can be reliably gripped while being small and lightweight. In addition, it is possible to provide a versatile robot hand with a wide application range by a stable gripping posture.
  In each of the above-described embodiments, the operation of one finger mechanism has been described. However, the present invention may be applied to a case where there are two or more finger mechanisms. Moreover, it is good also as including the thumb part mentioned above in a finger mechanism and applying this invention.
  Further, in each of the above-described embodiments, the case where there are two phalanxes per one finger mechanism has been described, but three or more phalanges may be provided. Further, in each of the above-described embodiments, the case where the actuator that is the drive source is arranged in the fixed portion and the output shaft and the rotation shaft of the drive pulley are the same has been described. The method is not limited.
  Further effects and modifications can be easily derived by those skilled in the art. Thus, the broader aspects of the present invention are not limited to the specific details and representative examples shown and described above. Accordingly, various modifications can be made without departing from the spirit or scope of the general inventive concept as defined by the appended claims and their equivalents.
DESCRIPTION OF SYMBOLS 10 Robot 10a Main-body part 10b Arm part 10b 'Arm cover 10ba Termination movable part 10c Leg part 10d Pressure sensor 10e Display monitor 20 Robot hand 21, 21' Finger mechanism 21a Fixed part 21b 1st finger part 21c 2nd finger part 21d 1st joint part 21e 2nd joint part 21f Actuator 21g Drive pulley 21h Driven pulley 21i Forward rotation drive wire 21j Reverse rotation drive wire 21k Terminal part 21l Torsion spring 22 Thumb part 100 Work 200 Non-circular pulley 201 Spring 202 Tensioner

Claims (8)

  1. A plurality of joints each rotating around a rotation axis parallel to each other;
    A plurality of links connected via the joints;
    A tension member that interlocks the rotation of the adjacent joints;
    A robot hand comprising: a drive source that drives and rotates the joint portion at the end.
  2. The tension member is
    The robot hand according to claim 1, wherein the robot hand is provided corresponding to forward and reverse rotation directions in the joint portion.
  3.   When gripping a workpiece that is a gripping object, when one of the links comes into contact with the workpiece and its movement is restricted, the joint for moving the link adjacent to the link on the tip side is provided. The robot hand according to claim 2, wherein the robot hand rotates with respect to the link whose movement is restricted.
  4. Based on the weight and length of the link, the joint portion has a predetermined biasing force that is adjusted in advance so that the joint portion sequentially rotates from the end to the tip, and the rotation of the joint portion is grasped with the predetermined biasing force. The robot hand according to claim 3, further comprising an urging member that urges in the insertion direction.
  5. The plurality of joints are
    Each end of the rotating shaft has a pulley,
    The pulley is
    When the drive source is driven to rotate, the shape of the output torque of the drive source distributed between the joints is adjusted in advance so as to be always constant according to the displacement of the rotation angle of the joints. The robot hand according to claim 1, wherein:
  6. A tension holding member that holds the tension by taking up the slack of the tension member even when the rotation angle is displaced by being always pressed against the tension member with a predetermined elastic force. The robot hand according to claim 5.
  7. The tension member is
    The robot hand according to claim 2, wherein the robot hand is a wire or a timing belt.
  8. A plurality of joints each rotating around a rotation axis parallel to each other;
    A plurality of links connected via the joints;
    A tension member that interlocks the rotation of the adjacent joints;
    A robot hand comprising: a drive source that drives and rotates the joint at the end.
JP2011065846A 2011-07-12 2011-07-12 robot hand and robot Granted JPWO2013008310A1 (en)

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