US20150202778A1 - Robot hand, robot device and method of manufacturing robot hand - Google Patents
Robot hand, robot device and method of manufacturing robot hand Download PDFInfo
- Publication number
- US20150202778A1 US20150202778A1 US14/674,887 US201514674887A US2015202778A1 US 20150202778 A1 US20150202778 A1 US 20150202778A1 US 201514674887 A US201514674887 A US 201514674887A US 2015202778 A1 US2015202778 A1 US 2015202778A1
- Authority
- US
- United States
- Prior art keywords
- finger
- robot
- robot hand
- finger unit
- pressure sensor
- Prior art date
- 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.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/081—Touching devices, e.g. pressure-sensitive
- B25J13/082—Grasping-force detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
- B29C65/70—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor by moulding
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S294/00—Handling: hand and hoist-line implements
- Y10S294/907—Sensor controlled device
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
- Y10S901/32—Servo-actuated
- Y10S901/34—Servo-actuated force feedback
Abstract
A robot hand includes a finger unit that is in contact with an object. The finger unit includes: a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member; and a second member that covers a surface of the first member.
Description
- This is a continuation patent application of U.S. application Ser. No. 14/036,100 filed Sep. 25, 2013 which claims priority to Japanese Patent Application No. 2012-226109, filed Oct. 11, 2012, both of which are expressly incorporated by reference herein in their entireties.
- 1. Technical Field
- The present invention relates to a robot hand, a robot device and a method of manufacturing the robot hand.
- 2. Related Art
- In the related art, a robot hand has been proposed that is mounted at a tip of an industrial robot arm or the like and holds or releases an object to perform a predetermined operation. More specifically, a multifunctional robot hand has been proposed that holds a tool to perform an operation such as assembly of components and holds minute components to arrange the minute components with accuracy (for example, refer to JP-A-60-25686).
- In such a robot hand, for example, a technique relating to a robot hand has been proposed in which an active element such as an adsorbing pad, a passive element such as a pressure sensor, and the like are included in a finger unit to stably hold various objects. Since such an active element and a passive element are operated by an electronic component such as an IC chip, a configuration is used in which the electronic component is mounted on the finger unit.
- However, in the above-mentioned technique, the structure of the finger unit is complicated and the number of components is large, and thus, the manufacturing cost is increased, which makes practical application difficult.
- An advantage of some aspects of the invention is to provide a robot hand and a robot device that are capable of being manufactured with a small number of components at low cost, and a method of manufacturing the robot hand.
- An aspect of the invention is directed to a robot hand including a finger unit that is in contact with an object, in which the finger unit includes: a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member; and a second member that covers a surface of the first member.
- According to this configuration, since the finger unit that is in contact with the object includes the first member in which the tip portion and the base portion connected to the tip portion are formed as the single member and the second member that covers the surface of the first member, it is possible to simplify the structure of the finger unit, and to reduce the number of components of the finger unit. Further, it is possible to perform integral molding with the same material using a technique such as injection molding, for example, and thus, it is possible to reduce the cost. Thus, it is possible to provide a robot hand that is capable of being manufactured with a small number of components at low cost.
- In the robot hand of the aspect of the invention, it is preferable that the first member includes a first chamber that accommodates a predetermined functional element relating to a contact operation with the object, and that the first chamber is sealed by the first member and the second member.
- For example, in a structure in which components are connected to each other using only a screw or the like, water or the like may be infiltrated through a gap, and the infiltrated water may be in contact with a functional element such as an electronic component to cause malfunction. Thus, it is difficult to perform an operation in an environment having a large amount of moisture. On the other hand, according to this configuration, since the first member includes the first chamber that accommodates the predetermined functional element relating to the contact operation with the object and the first chamber is sealed by the first member and the second member, it is possible to prevent infiltration of water into the first chamber from the outside, and to suppress water from being in contact with the functional element. Thus, it is possible to provide a robot hand that is capable of performing an operation in an environment having a large amount of moisture.
- In the robot hand of the aspect of the invention, it is preferable that the functional element is a pressure sensor that detects pressure that acts on the finger unit by contact with the object.
- According to this configuration, since the functional element is the pressure sensor that detects pressure that acts on the finger unit by contact with the object, it is possible to detect pressure applied to the finger unit by contact with the object, and to hold the object with high accuracy.
- In the robot hand of the aspect of the invention, it is preferable that a through hole through which a wiring connected to the functional element passes is formed in the base portion, and that the through hole is covered with the second member.
- According to this configuration, since the through hole through which the wiring connected to the functional element passes is formed in the base portion and the through hole is covered with the second member, it is possible to supply electric power to the functional element from the outside while securing a waterproof characteristic of the finger unit.
- In the robot hand of the aspect of the invention, it is preferable that the second member is provided to be elastically deformable, and that a second chamber that communicates with the first chamber is provided between the second member and the first member.
- According to this configuration, since the second member is provided to be elastically deformable and the second chamber that communicates with the first chamber is provided between the second member and the first member, it is possible to hold the object while elastically deforming the surface of the finger unit toward the second chamber. Thus, it is possible to stably hold the object.
- In the robot hand of the aspect of the invention, it is preferable that the first member has rigidity with respect to at least pressure that acts on the finger unit by contact with the object.
- According to this configuration, since the first member has rigidity with respect to at least pressure that acts on the finger unit by contact with the object, the first member forms a frame of the finger unit, to thereby make it possible to maintain the shape of the finger unit.
- In the robot hand of the aspect of the invention, it is preferable that the robot hand further includes: a support portion that supports a connection portion that connects the tip portion and the base portion of the finger unit so that the finger unit is rotatable in a predetermined direction; and an elastic portion that connects the support portion and the base portion and gives an elastic force to the finger unit in a predetermined direction.
- According to this configuration, since the robot hand further includes the support portion that supports the connection portion that connects the tip portion and the base portion of the finger unit so that the finger unit is rotatable in the predetermined direction and the elastic portion that connects the support portion and the base portion and gives the elastic force to the finger unit in the predetermined direction, it is possible to gently and elastically deform the finger unit with respect to pressure applied to the finger unit in the predetermined direction.
- In the robot hand of the aspect of the invention, it is preferable that the plural finger units are provided, and that the plural finger units are capable of holding the object.
- According to this configuration, since the plural finger units are provided and the plural finger units are capable of holding the object, it is possible to achieve a robot hand that is capable of performing various operations such as contact with the object and holding of object.
- Another aspect of the invention is directed to a robot device including: a robot hand including a finger unit that is in contact with an object, the finger unit including a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member and a second member that covers a surface of the first member; and a multi-axial arm that supports the robot hand.
- According to this configuration, since the finger unit that is in contact with the object, in the robot hand, includes the first member in which the tip portion and the base portion connected to the tip portion are formed as the single member and the second member that covers the surface of the first member, it is possible to simplify the structure of the finger unit, and to reduce the number of components of the finger unit. Further, it is possible to perform integral molding with the same material using a technique such as injection molding, for example, and thus, it is possible to reduce the cost. Thus, it is possible to provide a robot device that is capable of being manufactured with a small number of components at low cost.
- In the robot device of the aspect of the invention, it is preferable that the plural multi-axial arms be provided.
- According to this configuration, since the robot hand is provided to each of two arms, it is possible to perform an operation in a state where an object is held by both arms. Thus, it is possible to realize a holding state that is barely achieved in the related art, and to realize various holding states.
- Still another aspect of the invention is directed to a robot device including: a robot hand including a finger unit that is in contact with an object, the finger unit including a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member and a second member that covers a surface of the first member; and a plurality of multi-axial arms that support the robot hand.
- According to this configuration, since the finger unit that is in contact with the object, in the robot hand, includes the first member in which the tip portion and the base portion connected to the tip portion are formed as the single member and the second member that covers the surface of the first member, it is possible to simplify the structure of the finger unit, and to reduce the number of components of the finger unit. Further, it is possible to perform integral molding with the same material using a technique such as injection molding, for example, and thus, it is possible to reduce the cost. Thus, it is possible to provide a robot device that is capable of being manufactured with a small number of components at low cost. Further, since the robot hand is provided to each of two arms, it is possible to perform an operation in a state where an object is held by both arms. Thus, it is possible to realize a holding state that is barely achieved in the related art, and to realize various holding states.
- Yet another aspect of the invention is directed to a method of manufacturing a robot hand, including: molding a surface member that is provided on a surface of a finger unit that is in contact with an object; and arranging a first member inside the surface member so that the first member is covered with the molded surface member and a tip portion of the first member and a base portion thereof connected to the tip portion are formed as a single member.
- According to this configuration, since the surface member that is provided on the surface of the finger unit that is in contact with the object is molded, and then, inside a molded second member, the first member is arranged inside the surface member so that the first member is covered with the molded surface member and the tip portion of the first member and the base portion thereof connected to the tip portion are formed as the single member, it is possible to efficiently manufacture a finger unit having a small number of components. Thus, it is possible to manufacture a robot hand having a small number of components at low cost.
- In the method of the aspect of the invention, it is preferable that the method further include: retaining a predetermined functional element relating to a holding operation of the object in the first member after the first member is arranged inside the surface member; and sealing the first member after the functional element is retained.
- According to this configuration, since the predetermined functional element relating to the holding operation of the object is retained in the first member after the first member is arranged inside a second member and before the first member is sealed, it is also possible to seal the functional element when the second member is arranged. For example, in a structure in which components are connected to each other using only a screw or the like, water or the like may be infiltrated through a gap, and the infiltrated water may be in contact with a functional element to cause malfunction. Thus, it is difficult to perform an operation in an environment having a large amount of moisture. On the other hand, according to this configuration, it is possible to easily manufacture a configuration in which the functional element is disposed in a space sealed by the second member, and thus, it is possible to manufacture a robot hand that is capable of performing an operation in an environment having a large amount of moisture at low cost.
- The invention will be described with reference to the accompanying drawings, wherein like numbers reference like elements.
-
FIG. 1 is a perspective view illustrating an entire configuration of a robot hand according to a first embodiment of the invention. -
FIG. 2 is a perspective view illustrating a configuration of a part of the robot hand according to the first embodiment. -
FIG. 3 is a plan view illustrating a configuration of a part of the robot hand according to the first embodiment. -
FIG. 4 is a cross-sectional view illustrating a configuration of a part of a finger unit of the robot hand according to the first embodiment. -
FIG. 5 is a side view illustrating a configuration of a part of the robot hand according to the first embodiment. -
FIG. 6 is a perspective view illustrating en entire configuration of a rotation mechanism of the robot hand according to the first embodiment. -
FIG. 7 is a plan view illustrating a configuration of the rotation mechanism of the robot hand according to the first embodiment. -
FIG. 8 is a side view illustrating a configuration of the rotation mechanism of the robot hand according to the first embodiment. -
FIG. 9 is a plan view illustrating a configuration of the rotation mechanism of the robot hand according to the first embodiment. -
FIG. 10 is a perspective view illustrating a manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 11 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 12 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 13 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 14 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 15 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 16 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 17 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 18 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 19 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 20 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 21 is a perspective view illustrating the manufacturing process of the finger unit of the robot hand according to the first embodiment. -
FIG. 22 is a perspective view illustrating an entire configuration of a robot device according to a second embodiment of the invention. -
FIG. 23 is a perspective view illustrating an entire configuration of a robot device according to a third embodiment of the invention. -
FIG. 24 is a perspective view illustrating an entire configuration of a robot device according to a modification example of the invention. - Hereinafter, a robot hand and a robot device according to exemplary embodiments of the invention will be described referring to the accompanying drawings. In the drawings, the scale, number, and the like of each structure are different from those of the real structure to help with understanding of respective configurations.
-
FIG. 1 is a perspective view illustrating an entire configuration of arobot hand 100.FIG. 2 is a perspective view illustrating a configuration of a part of therobot hand 100.FIG. 3 is a plan view illustrating therobot hand 100 shown inFIG. 2 . - As shown in
FIGS. 1 to 3 , therobot hand 100 according to the present embodiment includes three finger units 10 (first finger unit 10A,second finger unit 10B and third finger unit 10C), asupport section 20 that supports thefinger units 10, and adrive section 30 that drives thesupport section 20. Therobot hand 100 is used as a holding device of an industrial robot that holds an object such as a tool or a component, for example. Therobot hand 100 may be used for other purposes (outer space field, medical field, food field, play equipment field or the like), as well as for the industrial robot. - Further, in the present embodiment, each of three
finger units 10 to be described later is covered with a sealingmember 50 so that the inside thereof is sealed. Accordingly, therobot hand 100 may be used even in the case of holding an object in a place having a large amount of moisture, for example, inside a cleaner such as a dishwasher, inside a water tank, or the like. InFIG. 2 , the sealing members 50 (to be described later) that covers thefinger units 10, thesupport section 20 and acover member 60 that covers and thedrive section 30 are not shown, and the insides of thefinger units 10 and an internal structure of thesupport section 20 or thedrive section 30 are shown to be distinguishable (the sealingmember 50 is shown with a two-dotted line with respect to only thefinger unit 10A). - Here, an axis that is orthogonal to a common plane (support plate to be described later) where base end portions of three
finger units finger unit 10A. Thefinger units support section 20 and thedrive section 30 are arranged in this order along the hand axis O. - Further, the tip side of the
finger units drive section 30 is referred to as a downside, along the direction of the hand axis O. Further, a direction that is orthogonal to the hand axis O is referred to as a radial direction. Further, a direction that turns around the hand axis O is referred to as a circumferential direction (arrow E direction inFIG. 3 ). In the present embodiment, turning around the vicinity of the hand axis O is also collectively referred to as “turning”. For example, turning centers of thesecond finger unit 10B and the third finger unit 10C shift from the hand axis O, but this case is also referred to as turning. - Three
finger units closing mechanism 30A of thedrive section 30. The positions ofrespective finger tips 10 a in a fully opened state and in a fully closed state according to the opening and closing operation are concentric around the hand axis O when seen from a planar view inFIG. 3 . Strictly speaking, since the respective rotation centers of thefinger units first finger unit 10A among threefinger units second finger unit 10B and the third finger unit 10C are provided to be able to move in the circumferential direction E by aturning movement section 30B of thedrive section 30. - Each turning range of the
second finger unit 10B and the third finger unit 10C covers a range of 180° or greater (a range of θ shown inFIG. 3 ) from a first finger position P1 that is opposite to thefirst finger unit 10A to a second finger position P2 that is close to thefirst finger unit 10A. Here, the expression “opposite” includes both of a strictly opposite state and an approximately opposite state. - That is, a turning range θ1 (θ) of the
second finger unit 10B is a range where thesecond finger unit 10B turns along a plane that intersects with a plane, in which base end portions of threefinger units second finger unit 10B (line along a longitudinal direction of thesecond finger unit 10B). On the other hand, a turning range θ2 (θ) of the third finger unit 10C is a range where the third finger unit 10C turns along a plane that intersects with a plane, in which the base end portions of threefinger units FIG. 3 , thesecond finger unit 10B and the third finger unit 10C that move in the turning ranges θ1 and θ2 are shown with two-dotted lines, which respectively cover a range of 180° or greater. -
FIG. 4 is a cross-sectional view illustrating a configuration of the finger units 10 (10A, 10B and 10C). - As shown in
FIGS. 2 and 4 , each of thefinger units rigid member 11 that forms a frame, ajoint section 12, the sealingmember 50 that covers therigid member 11, and anelastic member 14 that is disposed between therigid member 11 that is covered with the sealingmember 50 and asupport member 13. - The
rigid member 11 is bent in a direction in which thefinger units rigid member 11 is formed in an approximately L shape to have a bendingportion 11 a. A throughhole 11 b is formed in the bendingportion 11 a. The shaft-shapedjoint section 12 that is fixed to thesupport member 13 at opposite ends thereof is inserted into the through hole. Thus, thefinger units joint section 12. Alternatively, a configuration may be used in which a through hole is formed in a portion of thesupport member 13 that overlaps with the bendingportion 11 a and the opposite end portions of the shaft-shapedjoint section 12 that is fixed to the bendingportion 11 a of therigid member 11 at a central portion thereof is inserted into the through hole. In this case, therigid member 11 is similarly rotatable around thejoint section 12. - The
rigid member 11 includes atip portion 11A, a first ball portion 11B, a second ball portion 11C, a first back portion 11D, asecond back portion 11E, abase end portion 11F, and side portions 11G. Therigid member 11 is formed of a resin material having a high hardness such as an epoxy resin so that thetip portion 11A, the first ball portion 11B, the second ball portion 11C, the first back portion 11D, thesecond back portion 11E, and thebase end portion 11F are integrally formed. - The
tip portion 11A is positioned in a nail portion of therigid member 11. The first ball portion 11B is provided between the bendingportion 11 a of therigid member 11 and thetip portion 11A, and is provided integrally with thetip portion 11A. The second ball portion 11C is provided between the bendingportion 11 a of therigid member 11 and an end portion thereof opposite to the side of thetip portion 11A (the base end side of the finger unit with respect to the bendingportion 11 a). - The first back portion 11D and the
second back portion 11E are disposed on the backside of thefinger units tip portion 11A and the first ball portion 11B. Thesecond back portion 11E is disposed in a region corresponding to the second ball portion 11C. Thebase end portion 11F is disposed on the side of thesupport section 20 in thefinger units finger units tip portion 11A, the first ball portion 11B, the second ball portion 11C, the first back portion 11D, thesecond back portion 11E and thebase end portion 11F are interposed therebetween. The throughhole 11 b is formed in the side portions 11G. - A hollow chamber portion (first chamber) 11H that is surrounded by the first ball portion 11B, the second ball portion 11C, the first back portion 11D, the
second back portion 11E, thebase end portion 11F and the side portions 11G is formed in therigid member 11. At least a part of thechamber portion 11H on the side of thetip portion 11A and the first ball portion 11B is sealed. Afirst pressure sensor 71, asecond pressure sensor 72 and athird pressure sensor 73 are disposed in thechamber portion 11H. For example, a semiconductor pressure sensor or the like may be used as thefirst pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73. As thefirst pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73 are provided, it is possible to detect a force applied to thefinger units first pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73 may be omitted. - The
first pressure sensor 71 is provided in thetip portion 11A. Thefirst pressure sensor 71 includes amain body portion 71 a, apressure sensing portion 71 b, and acircuit board 71 c. Themain body portion 71 a is attached to an inner surface side of thetip portion 11A (front surface of thechamber portion 11H side). Thepressure sensing portion 71 b is provided to pass through thetip portion 11A and is disposed to protrude from an outer surface of thetip portion 11A. Thecircuit board 71 c is connected to awiring 71 d and is capable of transmitting and receiving an electric signal through thewiring 71 d. Thewiring 71 d is extended to the outside through a through hole 11 c formed on the base end side of therigid member 11. - The
second pressure sensor 72 is provided in the first ball portion 11B. Thesecond pressure sensor 72 includes amain body portion 72 a, apressure sensing portion 72 b, and a circuit board 72 c. Themain body portion 72 a is attached to an inner surface side of the first ball portion 11B (front surface of thechamber portion 11H side). Thepressure sensing portion 72 b is provided to pass through the first ball portion 11B and is disposed to protrude from an outer surface of the first ball portion 11B. The circuit board 72 c is connected to awiring 72 d and is capable of transmitting and receiving an electric signal through thewiring 72 d. Thewiring 72 d is extended to the outside through a through hole 11 c formed on the base end side of therigid member 11, in a similar way to thewiring 71 d of thefirst pressure sensor 71. - The
third pressure sensor 73 is provided in the second ball portion 11C. Thethird pressure sensor 73 includes amain body portion 73 a, apressure sensing portion 73 b, and a circuit board 73 c. Themain body portion 73 a is attached to an inner surface side of the second ball portion 11C (front surface of thechamber portion 11H side). Thepressure sensing portion 73 b is provided to pass through the second ball portion 11C and is disposed to protrude from an outer surface of the second ball portion 11C. The circuit board 73 c is connected to awiring 73 d and is capable of transmitting and receiving an electric signal through thewiring 73 d. Thewiring 73 d is extended to the outside through a through hole 11 c formed on the base end side of therigid member 11. - The sealing
member 50 is disposed to cover thetip portion 11A, the first ball portion 11B, the second ball portion 11C, the first back portion 11D, thesecond back portion 11E, thebase end portion 11F and the side portions 11G of therigid member 11. Thechamber portion 11H of therigid member 11 forms an airtight space sealed by the sealingmember 50. The sealingmember 50 is formed of a material that is deformable in holding an object, such as a flexible resin. - The sealing
member 50 includes atip portion 51A, afirst ball portion 51B, a second ball portion 51C, afirst back portion 51D, asecond back portion 51E, abase end portion 51F,side portions 51G, and aconnection portion 51H. - The
tip portion 51A covers thetip portion 11A of therigid member 11. Thetip portion 51A has a shape that is curved to protrude toward a front surface side of thetip portion 11A. A chamber portion (second chamber) 52A is formed between thetip portion 51A and thetip portion 11A. Thetip portion 51A is provided to be deformable toward thechamber portion 52A due to external pressure in holding an object, for example. In a case where inner pressure of thechamber portion 52A is changed due to deformation of thetip portion 51A, the inner pressure change may be detected by thefirst pressure sensor 71, for example. - The
first ball portion 51B covers the first ball portion 11B of therigid member 11. Thefirst ball portion 51B has a shape that is curved to protrude toward a front surface side of the first ball portion 11B. A chamber portion (second chamber) 52B is formed between thefirst ball portion 51B and the first ball portion 11B. Thefirst ball portion 51B is provided to be deformable toward the chamber portion 52B due to external pressure in holding an object, for example. In a case where inner pressure of the chamber portion 52B is changed due to deformation of thefirst ball portion 51B, the inner pressure change may be detected by thesecond pressure sensor 72, for example. - The second ball portion 51C covers the second ball portion 11C of the
rigid member 11. The second ball portion 51C has a shape that is curved to protrude toward a front surface side of the second ball portion 11C. A chamber portion (second chamber) 52C is formed between the second ball portion 51C and the second ball portion 11C. The second ball portion 51C is provided to be deformable toward the chamber portion 52C due to external pressure in holding an object, for example. In a case where inner pressure of the chamber portion 52C is changed due to deformation of the second ball portion 51C, the inner pressure change may be detected by thethird pressure sensor 73, for example. - The
first back portion 51D, thesecond back portion 51E and theside portions 51G respectively cover the first back portion 11D, thesecond back portion 11E and the side portions 11G of therigid member 11. Thefirst back portion 51D, thesecond back portion 51E and theside portions 51G are respectively in close contact with the first back portion 11D, thesecond back portion 11E and the side portions 11G. Theconnection portion 51H connects thefirst back portion 51D and thesecond back portion 51E. - The
base end portion 51F covers thebase end portion 11F of therigid member 11. Thebase end portion 51F is in close contact with a front surface of thebase end portion 11F. Thebase end portion 51F is provided to seal thewirings base end portion 11F, for each through hole 11 c. Thus, thechamber portion 11H of therigid member 11 is sealed by thewirings base end portion 51F of the sealingmember 50, in the through holes 11 c. - Here, a
stopper 15 that regulates rotation of therigid member 11 is provided in thefinger units stopper 15 protrudes along an upper end surface of thesupport member 13 from a base end of the opposite surface to the first ball portion 11B (surface on the opening side in the opening and closing direction of the finger unit) for example. For example, thestopper 15 has a function of regulating a rotational angle (rotational angle in a case where therigid member 11 rotates around the joint section 12) so that therigid member 11 does not rotate with reference to thejoint section 12 at a predetermined angle or greater. For example, in a case where theelastic member 14 has a natural length, thestopper 15 maintains a state of being in contact with the upper end surface 13 a of thesupport member 13. - The
support section 20 includes thesupport member 13 that supports thefinger units connection base plate 21, a lowerconnection base plate 22, fixedlinks 23 that connect and support afirst support member 13A of thefirst finger unit 10A and transmit rotational power from theturning movement section 30B to asecond support member 13B of thesecond finger unit 10B and a third support member 13C of the third finger unit 10C, andconnection links 24 that support thefirst support member 13A of thefirst finger unit 10A to be able to be opened and closed and support thesecond support member 13B of thesecond finger unit 10B and the third support member 13C of the third finger unit 10C to be rotatable and to be able to be opened and closed. - The
finger units support member 13 through theelastic member 14. For example, a compression spring may be used as theelastic member 14. Theelastic member 14 is provided at a position of thesupport member 13 on the base end side of each of thefinger units joint section 12. One end of theelastic member 14 is connected to each of thefinger units elastic member 14 is connected to thesupport member 13. Thus, thefinger units joint section 12 in a direction of being in contact with an object. - Each of the
support members finger units rigid member 11 to be rotatable at the bendingportion 11 a through thejoint section 12, and is supported to be rotatable (be able to be opened and closed) by ajoint section 23 a of the fixedlink 23 in a direction of being in contact with an object. Further, thesupport members joint section 24 a of theconnection link 24 on the base end side with reference to thejoint section 23 a. The position of the firstjoint section 24 a varies according to an up-down movement of theconnection link 24, and thus, thesupport member 13 is rotatable around the firstjoint section 24 a. - The fixed
links 23 are rigid members that connect thedrive section 30 and therespective support members 13 of thefinger units links 23 include a firstfixed link 23A that is provided to thefirst finger unit 10A, and a secondfixed link 23B and a third fixed link 23C that are respectively provided to thesecond finger unit 10B and the third finger unit 10C. - The fixed
links support member 13 to be rotatable through thejoint section 23 a. For example, a configuration may be used in which a through hole (not shown) is formed in a portion of the fixedlink 23 that overlaps with thesupport member 13 and the shaft-shapedjoint section 23 a that is fixed to thesupport member 13 at opposite ends thereof is inserted into the through hole. Thus, thesupport member 13 is rotatable around thejoint section 23 a. Alternatively, a configuration may be used in which a through hole is formed in a portion of thesupport member 13 that overlaps with the fixedlink 23 and the opposite end portions of the shaft-shapedjoint section 23 a that is fixed to the fixedlink 23 at a central portion thereof are inserted into the through hole. In this case, thesupport member 13 is similarly rotatable around thejoint section 23 a. - A base end of the first fixed
link 23A is fixed to the upperconnection base plate 21. Base ends of the secondfixed link 23B and the third fixed link 23C are respectively pivotally supported byfinger rotation shafts drive section 30. - As shown in
FIGS. 4 and 5 , theconnection link 24 is configured so that aconnection plate 241 and aconnection member 242 are provided to be rotatable around the secondjoint section 24 b and theconnection plate 241 and the base end of thesupport member 13 are rotatable around the firstjoint section 24 a. Further, abase end 24 c of theconnection member 242 that is disposed on an opposite side to thejoint section 24 b is supported on the lowerconnection base plate 22. The connection links 24 include afirst connection link 24A that is provided to thefirst finger unit 10A, and asecond connection link 24B and a third connection link 24C that are respectively provided to thesecond finger unit 10B and the third finger unit 10C. - The
first connection link 24A is fixed to a ball nut 312 (to be described later) of thedrive section 30 at a portion thereof on a side that is opposite to the side where thejoint section 24 b of theconnection member 242 is provided. - The
second connection link 24B and the third connection link 24C are pivotally supported by thefinger rotation shafts drive section 30 that are inserted into the lowerconnection base plate 22, and are provided to be rotatable around the rotation shafts. - As shown in
FIGS. 1 and 2 , thedrive section 30 includes the opening andclosing mechanism 30A that synchronously opens and closes threefinger units turning movement section 30B that simultaneously turns thesecond finger unit 10B and the third finger unit 10C in the circumferential direction. Main components of the opening andclosing mechanism 30A and theturning movement section 30B are arranged on adrive base plate 31 having a planar surface in a direction that is orthogonal to the hand axis O under the lowerconnection base plate 22. - The
drive section 30 is accommodated in a cylindrical cover body (not shown), for example. - As shown in
FIGS. 2 and 5 , the opening andclosing mechanism 30A includes a screw shaft 311 (seeFIG. 6 ) of a ball screw that is supported to be rotatable around the hand axis O with respect to thedrive base plate 31, theball nut 312 that is screw-coupled with thescrew shaft 311 and moves up and down along thescrew shaft 311, a pulley 313 (seeFIGS. 4 , 5 and 8) that is coaxially provided at a lower end of thescrew shaft 311 passed through thedrive base plate 31, and afirst drive motor 314 that transmits rotation to thepulley 313 through a belt or the like. Theball nut 312 is provided integrally with the lowerconnection base plate 22. - That is, as shown in
FIG. 5 , if the rotation is transmitted to thepulley 313 from thefirst drive motor 314, thescrew shaft 311 rotates together with thepulley 313, and thus, the lowerconnection base plate 22 that is provided integrally with theball nut 312 moves up and down. Then, if theconnection member 242 of the fixedlink 24 of which the base end is provided to the lowerconnection base plate 22 moves up and down, the position of thejoint section 24 a of theconnection plate 241 varies in the radial direction, and thus, thesupport member 13 of thefinger units joint section 24 a to perform the opening and closing operation. - As shown in
FIGS. 6 to 9 , theturning movement section 30B has a schematic configuration that includes aworm gear 321, asecond drive motor 322 that rotates theworm gear 321, a pair of rotation shaft spur gears 323 (323A and 323B) of the same shape that rotates in different directions around rotation axes C1 and C2 that are parallel to the hand axis O in association with the rotation of theworm gear 321 to turn thesecond finger unit 10B and the third finger unit 10C shown inFIG. 3 , thefinger rotation shafts transmission spur gear 325 that transmits rotational power to the pair of rotation shaft spur gears 323A and 323B from theworm gear 321. - The
worm gear 321 has a cylindrical shape, and has spiral teeth on a curved surface portion of a side surface thereof. - Here, a part of the
turning movement section 30B excluding thefinger rotation shafts FIGS. 4 and 5 . The power section G is disposed under thesupport section 20. - The
second finger unit 10B is provided to the first rotationshaft spur gear 323A that is one of the pair of rotation shaft spur gears 323 through thefinger rotation shaft 324A, the upperconnection base plate 21, the lowerconnection base plate 22, the secondfixed link 23B and thesecond connection link 24B; and the third finger unit 10C is provided to the second rotationshaft spur gear 323B that is the other one of the pair and rotates in a different direction from the first rotationshaft spur gear 323A through thefinger rotation shaft 324B, the upperconnection base plate 21, the lowerconnection base plate 22, the third fixed link 23C and the third connection link 24C. As thesecond drive motor 322 rotates, thesecond finger unit 10B and the third finger unit 10C rotate in a direction of being close to or distant from each other in the circumferential direction. That is, thesecond finger unit 10B and the third finger unit 10C are able to turn between the first finger position P1 and the second finger position P2 as described above. - The
second drive motor 322 and theworm gear 321 are respectively disposed on thedrive base plate 31, in which respective rotation axes C3 and C4 thereof are horizontally provided in parallel. Apulley 327 is coaxially provided to theworm gear 321 on the rotation axis C4. Rotation of thesecond drive motor 322 is transmitted to thepulley 327. - Further, a
worm wheel 328 that is engaged with theworm gear 321 and rotates around a vertical axis (rotation axis C5) that is orthogonal to the rotation axis C4 is provided on thedrive base plate 31. A firsttransmission spur gear 325A that is disposed under thedrive base plate 31 is coaxially provided at a lower end of the rotation axis C5 of theworm wheel 328. Further, a secondtransmission spur gear 325B is provided to be engaged with the firsttransmission spur gear 325A to rotate in a different direction from the firsttransmission spur gear 325A, and a thirdtransmission spur gear 325C is provided coaxially with the secondtransmission spur gear 325B on thedrive base plate 31. The first rotationshaft spur gear 323A is engaged with the thirdtransmission spur gear 325C to rotate in a different direction from the thirdtransmission spur gear 325C. - The
worm wheel 328 has a disc shape, and has arc-shaped teeth on a curved surface portion of a side surface thereof. - The first rotation
shaft spur gear 323A and the second rotationshaft spur gear 323B respectively have a tooth shape of the same pitch, and are supported to be rotatable by thedrive base plate 31 with an interval therebetween being constantly maintained. The rotation axes C1 and C2 thereof are arranged at symmetrical positions with thescrew shaft 311 of the ball screw being interposed therebetween. - A pair of
synchronous spur gears 326A and 326B of the same shape is provided between the first rotationshaft spur gear 323A and the second rotationshaft spur gear 323B. That is, the first rotationshaft spur gear 323A is engaged with the firstsynchronous spur gear 326A, and the second synchronous spur gear 326B that is engaged with the firstsynchronous spur gear 326A is engaged with the second rotationshaft spur gear 323B. Thus, the rotation of the first rotationshaft spur gear 323A is transmitted to the second rotationshaft spur gear 323B in association. - In a case where the pair of
synchronous spur gears 326A and 326B rotates with the same number of rotations, the rotational directions of the first rotationshaft spur gear 323A and the second rotationshaft spur gear 323B are different from each other, but the rotational angles thereof are the same. Thus, thefinger rotation shafts second finger unit 10B and the third finger unit 10C that are respectively provided to thefinger rotation shafts - In this regard, the pitches of the rotation shaft spur gears 323 with respect to the
second finger unit 10B and the third finger unit 10C may be formed to be different from each other. Thus, in a case where the first rotationshaft spur gear 323A and the second rotationshaft spur gear 323B rotate with the same number of rotations, the rotational angle where thesecond finger unit 10B rotates according to the rotation of the first rotationshaft spur gear 323A and the rotational angle where the third finger unit 10C rotates according to the rotation of the second rotationshaft spur gear 323B may be different from each other. According to this configuration, it is possible to hold a special shape such as asymmetry. - In a case where the
second finger unit 10B and the third finger unit 10C are turned, thesecond drive motor 322 is first operated in theturning movement section 30B of thedrive section 30, and then, thepulley 327 that is connected to thesecond drive motor 322 by a belt or the like rotates around the rotation axis C4. Then, theworm gear 321 that is provided coaxially with thepulley 327 rotates around the rotation axis C4, and this rotation is transmitted to theworm wheel 328 that rotates around the rotation axis C5 that is parallel to the hand axis O. Further, the rotation is sequentially transmitted to the firsttransmission spur gear 325A that is provided coaxially with theworm wheel 328, the secondtransmission spur gear 325B and the thirdtransmission spur gear 325C, and thus, the first rotationshaft spur gear 323A that is engaged with the thirdtransmission spur gear 325C rotates. - Further, the rotation of the first rotation
shaft spur gear 323A is transmitted to the second rotationshaft spur gear 323B through the pair ofsynchronous spur gears 326A and 326B. At this time, in a case where the first rotationshaft spur gear 323A rotates to the right (in an arrow F1 direction) in a top view ofFIG. 7 , the second rotationshaft spur gear 323B rotates to the left (in an arrow F2 direction). That is, the first rotationshaft spur gear 323A and the second rotationshaft spur gear 323B rotate in the different directions. Further, thefinger rotation shafts shaft spur gear 323A and the second rotationshaft spur gear 323B also respectively rotate to the right (in the arrow F1 direction) and to the left (in the arrow F2 direction) in association with the rotation shaft spur gears. Further, thesecond finger unit 10B and the third finger unit 10C are turned together with thefinger rotation shafts - Next, an operation of the opening and
closing mechanism 30A will be described. - As shown in
FIG. 5 , thefirst drive motor 314 and thepulley 313 are connected to each other by a belt or the like. If thepulley 313 rotates by driving of thefirst drive motor 314, thescrew shaft 311 of the ball screw that extends along the hand axis O and that is provided coaxially with thepulley 313 rotates, and thus, theball nut 312 moves up and down along thescrew shaft 311. At the same time, the lowerconnection base plate 22 that is provided integrally with theball nut 312 also relatively moves up and down with respect to thescrew shaft 311. Further, since thefinger units connection base plate 22, thefinger units connection link 24 according to the up and down movement of the lowerconnection base plate 22. That is, thefinger units support member 13 is attached to the lowerconnection base plate 22 through theconnection link 24. Thus, if theconnection link 24 moves up and down, therespective finger units joint section 24 a. For example, if theconnection link 24 moves down, thefinger units connection link 24 moves up, thefinger units - Next, an operation of the above-mentioned
robot hand 100 will be described in detail. - As shown in
FIGS. 1 to 5 , in therobot hand 100 of the present embodiment, it is possible to circumferentially turn each of twofinger units 10B and 10C capable of being turned, approximately around the hand axis O, in a large circumferential range of 180° or greater according to the shape of an object, and thus, it is possible to approximately change an object holding direction of therespective fingers finger units turning movement section 30B, by installing therobot hand 100 to each of two arms, it is possible to perform a holding operation of an object such as a rectangular parallelepiped at a stable posture with the object being interposed between the hands (both hands) of two arms. - Further, for example, in a case where the object is a spherical body, it is possible to perform a change so that the
respective finger units respective finger units respective finger units respective finger units finger units - In this way, it is possible to realize a holding state that is hardly obtained in the related art, to thereby realize various holding states.
- Further, according to the
robot hand 100 of the present embodiment, the power section that transmits the rotational power to thefinger rotation shafts support section 20 that does not interfere with the turning finger units. Thus, compared with a case where the power section is disposed in a limited space of the root position (base end position) in thefinger units robot hand 100, and to secure a large turning range of 180° of thesecond finger unit 10B and the third finger unit 10C that move in the circumferential direction. - Further, the power section of the
turning movement section 30B having a large weight may be disposed at a position that is near the root of theentire robot hand 100, and accordingly, it is possible to position the weight balance and center of gravity of therobot hand 100 in the root portion. Thus, it is possible to reduce the moment that acts on therobot hand 100. Thus, control of a manipulator becomes easy, and stability of the control is increased, and thus, it is possible to enhance holding accuracy in therobot hand 100. - Further, according to the
robot hand 100 of the present embodiment, the transmission structure that two rotation shaft spur gears 323A and 323B rotate in the synchronized state by oneworm wheel 328 is employed, and accordingly, it is possible to change the finger positions of the twofinger units 10B and 10C. For example, in the case of the related art in which two worm wheels are used and rotational power is transmitted to a finger unit corresponding to each worm wheel, it is necessary to position two worm gears with high accuracy in consideration of engagement of the worm gears in manufacturing the robot hand. However, in therobot hand 100 of the present embodiment, since oneworm wheel 328 is used, it is not necessary to perform the positioning with high accuracy in manufacturing the robot hand, to thereby shorten a manufacturing time. Further, it is possible to reduce malfunction. - Further, since one
worm wheel 328 is provided to be engaged with theworm gear 321 and the other transmission parts are provided as the spur gears (rotation shaft spur gears 323 and the transmission spur gears 325), it is possible to reduce a play amount due to theworm wheel 328 and to reduce rattling of theturning movement section 30B. Thus, it is possible to stably hold an object with higher accuracy. - Further, since two rotation shaft spur gears 323A and 323B rotate at the same angle with the same number of rotations, two
finger units 10B and 10C that are connected to the rotation shaft spur gears 323A and 323B similarly rotate at the same angle with the same number of rotations. Thus, a posture control of the object becomes easy. - Further, it is possible to simplify a device configuration, compared with a case where the rotational angles among the plural rotation shaft spur gears are different from one another when the rotation shaft spur gears rotate with the same number of rotations.
- Further, even though both the rotation shaft spur gears 323A and 323B are not directly engaged with each other but are disposed to be spaced apart from each other, it is possible to transmit rotation to the second rotation
shaft spur gear 323B from the first rotationshaft spur gear 323A by thesynchronous spur gears 326A and 326B. Thus, there is an advantage that restrictions on arrangement of thefinger rotation shafts finger units 10B and 10C are reduced. - Furthermore, as the
second finger unit 10B and the third finger unit 10C circumferentially rotate in the direction of being close to or distant from each other, it is possible to stably hold an object at a predetermined position by threefinger units second finger unit 10B and the third finger unit 10C that are disposed at the first finger position P1 rotate with the same number of rotations, the rotational angle at which thesecond finger unit 10B rotates and the rotational angle at which the third finger unit 10C rotates are equal to each other, and thus, the circumferential positions of thesecond finger unit 10B and the third finger unit 10C with respect to thefirst finger unit 10A are at the same distance. Thus, it is possible to more stably hold the object. - Next, a method of manufacturing the
finger units robot hand 100 having the above-described configuration will be described. -
FIGS. 10 to 21 are process diagrams illustrating a manufacturing process of thefinger units - First, as shown in
FIG. 10 , amold 500 for molding thefinger units mold 500 is formed of wax or the like, for example. Themold 500 is formed with agroove section 501 corresponding to the shape of thefinger units - Then, as shown in
FIG. 11 , asoft resin 502 flows into thegroove section 501, and then, anupper mold 503 is inserted into thegroove section 501 so that thesoft resin 502 covers the entire surface of thegroove section 501 in a film shape. Theupper mold 503 is prepared in advance so that a gap in which thesoft resin 502 is disposed is formed between theupper mold 503 and the surface of thegroove section 501 in a state where theupper mold 503 is inserted in thegroove section 501. - After the flowed
soft resin 502 is solidified, theupper mold 503 is removed as shown inFIG. 12 . Thesoft resin 502 forms a part of the above-mentioned sealing member 50 (thetip portion 51A, thefirst ball portion 51B, the second ball portion 51C, theside portions 51G and thebase end portion 51F), for example. In this way, by forming a part of the sealingmember 50 by molding, it is possible to shorten the time compared with cutting, for example, and to reduce the material. Thus, it is possible to reduce the cost, and to enhance yield. - Then, as shown in
FIG. 13 , plate-shapedmembers soft resin 502. The plate-shapedmembers tip portion 11A, the first ball portion 11B and the second ball portion 11C). In this process, the plate-shapedmembers resin 502 so that space between threecurved portions soft resin 502 that form thetip portion 51A, thefirst ball portion 51B and the second ball portion 51C and the plate-shapedmembers - Further, in this process, for example, as shown in
FIGS. 12 and 13 ,step portions curved portions members step portions members - Then, as shown in
FIG. 14 , ahard resin 507 such as an epoxy resin flows into a portion surrounded by thesoft resin 502 and three plate-shapedmembers members members curved portions hard resin 507 does not flow into the space. According to this process, the plate-shapedmembers hard resin 507 are integrally formed. - Then, as shown in
FIG. 15 , the solidifiedhard resin 507 is cut. In this process, awall portion 507 a that forms the side portion 11G of therigid member 11 is formed, and anopening portion 507 b that forms the throughhole 11 b is formed. Further, a part of thesoft resin 502 is removed to become suitable for the cutting of thehard resin 507. - Then, as shown in
FIG. 16 , throughholes first pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73 are formed in the plate-shapedmembers holes members curved portions holes pressure sensing portion 71 b of thefirst pressure sensor 71, thepressure sensing portion 72 b of thesecond pressure sensor 72 and thepressure sensing portion 73 b of thethird pressure sensor 73 are respectively disposed in the throughholes - Then, as shown in
FIG. 17 , thefirst pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73 are mounted on the plate-shapedmembers first pressure sensor 71 is mounted, themain body portion 71 a is adhered to the plate-shapedmember 504 so that thepressure sensing portion 71 b is inserted into the throughhole 504 a. Further, when thesecond pressure sensor 72 is mounted, themain body portion 72 a is adhered to the plate-shapedmember 505 so that thepressure sensing portion 72 b is inserted into the throughhole 505 a. Further, when thethird pressure sensor 73 is mounted, themain body portion 73 a is adhered to the plate-shapedmember 506 so that thepressure sensing portion 73 b is inserted into the throughhole 506 a. For example, an adhesive agent of an epoxy resin system or the like may be used for adhesion of themain body portions - Then, as shown in
FIG. 18 , plate-shapedmembers hard resin 507. The plate-shapedmembers second back portion 11E) of the above-mentionedrigid member 11. In this process, the plate-shapedmember 508 is disposed so as to cover thefirst pressure sensor 71 and thesecond pressure sensor 72, and the plate-shapedmember 509 is disposed so as to cover thethird pressure sensor 73. - Then, as shown in
FIG. 19 , aviscous oil 510 is disposed so as to seal a space between the plate-shapedmember 508 and the plate-shapedmember 509. In this state, asoft resin 511 flows in so as to cover the plate-shapedmembers viscous oil 510. For example, thesoft resin 511 may be formed of the same material as thesoft resin 502, or may be formed of a different material. Since the space between the plate-shapedmember 508 and the plate-shapedmember 509 is sealed by theviscous oil 510, thesoft resin 502 does not flow into the space in which thefirst pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73 are disposed. According to this process, thesoft resin 502 and thesoft resin 511 are integrally formed. - Then, as shown in
FIG. 20 , after the flowedsoft resin 511 is solidified, thesoft resin 511 is cut. In this process, coatingportions members coating portion 511 c that covers an upper side of thehard resin 507 are formed, and thesoft resin 511 is cut so that theviscous oil 510 is exposed. Thecoating portions first back portion 51D, thesecond back portion 51E and theconnection portion 51H) of the sealingmember 50. - Then, as shown in
FIG. 21 , theviscous oil 510 is removed from an opening portion of thesoft resin 511, and a portion covered with thesoft resins mold 500. Then, a throughhole 507 b is formed in a portion of thehard resin 507 that is exposed from thesoft resins hole 507 b forms the above-mentioned throughhole 11 b of therigid member 11. Then, the wirings of thefirst pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73 are extracted, and then, thefirst pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73 are sealed. Consequently, thechamber portion 11H is sealed. - Through the above processes, the
finger units members hard resin 507 are formed as a single member (the rigid member 11) and therigid member 11 that is formed as the single member is covered with thesoft resins 502 and 511 (the sealing member 50) are manufactured. - In the robot hand and the robot device described above according to the present embodiment, it is possible to hold various objects having various shapes or sizes in various holding postures, in a simple manner and at low cost.
- As described above, according to the present embodiment, since the
finger units rigid member 11 in which thetip portion 10 a and the portions other than thetip portion 10 a form a single member, and the sealingmember 50 that covers the front surface of therigid member 11, it is possible to simplify the structure of thefinger units finger units - Further, according to the present embodiment, since the
rigid member 11 includes a retaining portion (thetip portion 11A, the first ball portion 11B and the second ball portion 11C) that retains thefirst pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73 and thefirst pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73 are disposed in thechamber portion 11H that is sealed by the sealingmember 50, it is possible to prevent inflow of water from the outside, to thereby suppress water from being in contact with thefirst pressure sensor 71, thesecond pressure sensor 72 and thethird pressure sensor 73. Thus, it is possible to provide a robot hand that is capable of performing an operation in an environment having a large amount of moisture. - Hereinafter, a robot hand and a robot device according to another embodiment of the invention will be described referring to the accompanying drawings. Here, the same reference numerals are given to the same or like members and parts as in the above-described first embodiment, and description thereof will be omitted. A configuration that is different from the first embodiment will be described.
- As shown in
FIG. 22 , a robot device 4 is used as an industrial robot arm, for example. The robot device 4 is provided to a multi-axial arm that includes a mountingsection 40, afirst link 41, asecond link 42, athird link 43, afourth link 44, afifth link 45 and asixth link 46. - The mounting
section 40 is mounted on a floor, a wall, a ceiling or the like, for example. Thefirst link 41 to thesixth link 46 are serially connected in the order from the mountingsection 40. Further, in the robot device 4 of the present embodiment, the mountingsection 40, thefirst link 41, and the other links are connected to each other to be rotatable at connection portions (joints first link 41 to thesixth link 46 are provided to be rotatable, as the respective links appropriately rotate at thejoints 4 a to 4 f, it is possible to perform a complex operation in the entire robot arm. - The
sixth link 46 corresponds to a tip part of the robot device 4. Therobot hand 100 according to the above-described first embodiment is mounted to the tip part of thesixth link 46. - According to the robot device 4 of the second embodiment, it is possible to provide a robot device that is capable of holding various objects having various shapes or sizes, in a simple manner and at low cost.
- In the second embodiment, an example of the robot device having six joints is illustrated, but the number of joints is not limited thereto and may be one or more. A robot device may be provided that includes seven or more joints and has a wide range of arm operation.
- As shown in
FIG. 23 , arobot device 5 according to a third embodiment is a dual arm robot that is provided with plural (here, two) multi-axial arms (robot devices 4) according to the above-described second embodiment. In this case, therobot hand 100 is provided to each of two arms, and thus, it is possible to perform a holding operation of an object M using the hands of two arms with the object M being interposed therebetween. In this way, it is possible to realize a holding state that is barely achieved in the related art, and to realize various holding states. - Further, as shown in a modification example in
FIG. 24 , a configuration may be provided in which therobot hand 100 is provided to each of two multi-axial arms (robot devices 4) that is provided to abody section 51 of a robot device 5A. Further, if each multi-axial arm 4 is provided as a seven-axis arm having afirst link 41 to a sevenlink 47 and therobot hand 100 is provided to each multi-axial arm 4, it is possible to realize the same arm operation and holding state as when a human holds a large object using two arms and hands. The robot device 5A of the present embodiment has a configuration of the seven-axis arm as arotation shaft 4 g is provided between joints ofreference numerals joints - In
FIG. 24 , the robot device 5A is configured so thatwheels 53 are provided at a bottom portion thereof and thebody section 51 is supported on amain body section 52 that accommodates a control device (not shown), and is movable by thewheels 53. - In this way, according to the third embodiment shown in
FIGS. 23 and 24 , it is possible to hold a large object that is barely held by one arm (robot hand 100). Further, in the case of holding an object inside a box by two arms (robot devices 4) with the finger units being put into a space between the box and the object, according to a three-finger hand in the related art, it is difficult to put all the finger units into the space in a case where the space is narrow. However, according to the third embodiment, it is possible to put the finger units into the space by aligning the finger tips, and thus, it is possible to firmly hold the object by a larger number of finger units compared with the hand in the related art. - Hereinbefore, the robot hand and the robot device according to the embodiments of the invention are described, but the invention is not limited to the above embodiments, and may include various modifications appropriately made in a range without departing from the spirit thereof.
- For example, in the above-described embodiments, three
finger units - Further, the components of the above-described embodiments may be appropriately replaced with known components in a range without departing from the spirit of the invention.
Claims (9)
1. A robot hand comprising:
a first member that has a bending portion, and has a first surface in a direction in which the bending portion bends, and
a second member that is adapted to contact an object, the second member being provided to the first surface and being more elastically deformable than the first member.
2. The robot hand according to claim 1 , comprising:
a third member that is rotatably provided to the bending portion.
3. The robotic hand according to claim 2 , comprising:
an elastic member that is provided between the first member and the third member.
4. The robotic hand according to claim 1 , comprising:
a chamber that is located between the first member and the second member.
5. A robot device comprising:
a robot body; and
the robot hand according to claim 1 operatively associated with the robot body.
6. A robot device comprising:
a robot body; and
the robot hand according to claim 2 operatively associated with the robot body.
7. A robot device comprising:
a robot body; and
the robot hand according to claim 3 operatively associated with the robot body.
8. A robot device comprising:
a robot body; and
the robot hand according to claim 4 operatively associated with the robot body.
9. A robot device comprising:
a first arm that includes a first robot hand, and
a second arm that includes a second robot hand, wherein the first and second robot hands are configured to hold an object,
wherein each of the first and second robot hands includes:
a first member that has a bending portion, and has a first surface in a direction in which the bending portion bends, and
a second member that is adapted to contact an object, the second member being provided to the first surface and being more elastically deformable than the first member.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/674,887 US20150202778A1 (en) | 2012-10-11 | 2015-03-31 | Robot hand, robot device and method of manufacturing robot hand |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012226109A JP6111589B2 (en) | 2012-10-11 | 2012-10-11 | Robot hand, robot apparatus, and method of manufacturing robot hand |
JP2012-226109 | 2012-10-11 | ||
US14/036,100 US9016742B2 (en) | 2012-10-11 | 2013-09-25 | Robot hand, robot device and method of manufacturing robot hand |
US14/674,887 US20150202778A1 (en) | 2012-10-11 | 2015-03-31 | Robot hand, robot device and method of manufacturing robot hand |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/036,100 Continuation US9016742B2 (en) | 2012-10-11 | 2013-09-25 | Robot hand, robot device and method of manufacturing robot hand |
Publications (1)
Publication Number | Publication Date |
---|---|
US20150202778A1 true US20150202778A1 (en) | 2015-07-23 |
Family
ID=50446979
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/036,100 Expired - Fee Related US9016742B2 (en) | 2012-10-11 | 2013-09-25 | Robot hand, robot device and method of manufacturing robot hand |
US14/674,887 Granted US20150202778A1 (en) | 2012-10-11 | 2015-03-31 | Robot hand, robot device and method of manufacturing robot hand |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US14/036,100 Expired - Fee Related US9016742B2 (en) | 2012-10-11 | 2013-09-25 | Robot hand, robot device and method of manufacturing robot hand |
Country Status (3)
Country | Link |
---|---|
US (2) | US9016742B2 (en) |
JP (1) | JP6111589B2 (en) |
CN (1) | CN103722557B (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106142112A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive robot finger apparatus |
CN106564065A (en) * | 2016-08-31 | 2017-04-19 | 清华大学 | Herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device |
CN107984484A (en) * | 2017-11-22 | 2018-05-04 | 清华大学 | The accurate compensating line in end puts down folder adaptive robot finger apparatus |
CN108602192A (en) * | 2016-10-28 | 2018-09-28 | 深圳蓝胖子机器人有限公司 | Manipulator and robot |
Families Citing this family (48)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2014076522A (en) * | 2012-10-11 | 2014-05-01 | Seiko Epson Corp | Robot hand and robot device |
CN104816310A (en) | 2014-02-04 | 2015-08-05 | 精工爱普生株式会社 | Robot hand, robot, manufacturing method for robot hand |
JP2017506169A (en) * | 2014-02-20 | 2017-03-02 | マーク オレイニク | Method and system for food preparation in a robot cooking kitchen |
CN105666506B (en) * | 2014-11-18 | 2017-12-12 | 鸿富锦精密工业(深圳)有限公司 | Robot finger |
JP6691701B2 (en) * | 2014-12-30 | 2020-05-13 | トランスポーテーション アイピー ホールディングス,エルエルシー | System and method for recharging a vehicle mounted energy storage device |
CN105983974B (en) * | 2015-02-06 | 2018-04-17 | 赛恩倍吉科技顾问(深圳)有限公司 | Manipulator, the preparation method of the manipulator and the robot with the manipulator |
CN105983964B (en) * | 2015-02-06 | 2018-04-17 | 赛恩倍吉科技顾问(深圳)有限公司 | Manipulator, the preparation method of the manipulator and the robot with the manipulator |
WO2016136972A1 (en) * | 2015-02-28 | 2016-09-01 | 株式会社シーパーツ | Tire-gripping head, and tire-mounting/removing robot and tire-mounting/removing system which include same |
JP6393237B2 (en) * | 2015-06-05 | 2018-09-19 | 三桜工業株式会社 | Chuck mechanism |
CN104908056B (en) * | 2015-06-29 | 2016-09-21 | 哈尔滨工业大学 | A kind of three finger mechanical paws of variable configuration |
CN105250026B (en) * | 2015-11-16 | 2017-05-31 | 哈尔滨理工大学 | A kind of two-freedom device for adjusting posture |
US9844885B2 (en) * | 2015-11-27 | 2017-12-19 | Tamkang University | Gripping device having opened and closed gripping modes |
CN105364935B (en) * | 2015-12-08 | 2017-01-25 | 哈尔滨工业大学 | Three-finger three-degree-of-freedom configuration robot gripper |
CN105345836B (en) * | 2015-12-08 | 2017-03-08 | 哈尔滨工业大学 | A kind of three finger seven freedom configuration robot hands |
JP6301994B2 (en) * | 2016-04-04 | 2018-03-28 | ファナック株式会社 | Robotic gripping device |
JP6444942B2 (en) | 2016-05-26 | 2018-12-26 | ファナック株式会社 | Robot with a tool having a shock absorbing member |
KR101677259B1 (en) * | 2016-06-30 | 2016-11-17 | 주식회사 이엠티 | Gripper for a robot |
USD829249S1 (en) * | 2017-07-11 | 2018-09-25 | Intel Corporation | Robotic finger |
USD846615S1 (en) * | 2017-07-18 | 2019-04-23 | Mitsubishi Electric Corporation | Manipulator for robot |
JP1605292S (en) * | 2017-07-18 | 2019-11-25 | ||
USD847243S1 (en) * | 2017-07-18 | 2019-04-30 | Mitsubishi Electric Corporation | Manipulator for robot |
JP1605294S (en) * | 2017-07-18 | 2019-11-25 | ||
USD852859S1 (en) | 2017-07-18 | 2019-07-02 | Mitsubishi Electric Corporation | Manipulator for robot |
JP1605291S (en) * | 2017-07-18 | 2019-11-25 | ||
WO2019031502A1 (en) * | 2017-08-10 | 2019-02-14 | Thk株式会社 | Hand mechanism and gripping system |
CN107712010A (en) * | 2017-08-28 | 2018-02-23 | 华中农业大学 | The net thorax arm end effector of butchering fowl |
CN107433614B (en) * | 2017-09-28 | 2023-04-07 | 吉林大学 | Deformation bionic manipulator device |
JP6927852B2 (en) * | 2017-11-01 | 2021-09-01 | Thk株式会社 | Hand mechanism |
JP6995602B2 (en) * | 2017-12-14 | 2022-01-14 | キヤノン株式会社 | Robot hand, robot hand control method, robot device, article manufacturing method, control program and recording medium |
CN108098804A (en) * | 2017-12-25 | 2018-06-01 | 北京工业大学 | Apery manipulator |
JP6680757B2 (en) * | 2017-12-28 | 2020-04-15 | ファナック株式会社 | Gripping hand |
CN108436952B (en) * | 2018-02-27 | 2019-07-23 | 江南大学 | A kind of imitative claws of a hawk logistics packaging manipulator of electric-gas composite drive flexible finger |
CN108207332B (en) * | 2018-03-27 | 2024-01-26 | 郑州大学 | Flexible strawberry picker and full-automatic strawberry picking spider car applying same |
JP1613032S (en) * | 2018-03-29 | 2020-03-02 | ||
JP1613980S (en) * | 2018-03-29 | 2020-03-09 | ||
US10787259B2 (en) * | 2018-11-08 | 2020-09-29 | Colorado State University Research Foundation | Compliant bistable gripper for aerial perching and grasping |
US20210402623A1 (en) * | 2019-06-14 | 2021-12-30 | Korea Institute Of Machinery & Materials | Soft grip unit, grip device comprising same, and driving method of grip device |
KR102220191B1 (en) * | 2019-08-01 | 2021-02-25 | 엘지전자 주식회사 | Hand of robot and control method of the same |
JP7346213B2 (en) | 2019-10-01 | 2023-09-19 | キヤノン株式会社 | Vibration damping structure, method of manufacturing vibration damping structure, robot, hand |
CN110919671A (en) * | 2019-11-18 | 2020-03-27 | 浙江工业大学 | Device for measuring grasping pressure of dexterous hand |
CN111645049B (en) * | 2020-05-22 | 2023-05-09 | 湖北工程学院 | Mechanical claw, mechanical arm, carrying robot and carrying system |
CN111673781B (en) * | 2020-06-10 | 2022-06-03 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
CN112265011A (en) * | 2020-10-16 | 2021-01-26 | 刘少波 | Clamping mechanical claw for welding automobile glass |
US20230038288A1 (en) * | 2021-08-09 | 2023-02-09 | United States Of America, As Represented By The Secretary Of The Navy | Robotic Grip Device |
CN113771072B (en) * | 2021-09-01 | 2022-11-15 | 深圳市骏创科技有限公司 | Flexible manipulator and robot device |
US20230103759A1 (en) * | 2021-10-05 | 2023-04-06 | Toyota Research Institute, Inc. | Robotic Tool Control with Compliant Force/Geometry Sensor |
CN114081546B (en) * | 2022-01-24 | 2022-04-15 | 河南工学院 | Board pincers with adjustable clamping jaw and application of board pincers to livestock veterinarian bloodletting needle |
CN114227748B (en) * | 2022-01-25 | 2023-10-27 | 深圳市万至达电机制造有限公司 | Electric mechanical claw for grabbing spherical objects and judging method for clamping objects by electric mechanical claw |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7370896B2 (en) * | 2003-12-30 | 2008-05-13 | Strider Labs, Inc. | Robotic hand with extendable palm |
US7665782B2 (en) * | 2005-08-12 | 2010-02-23 | Reid Industries | Pick up device with locking mechanism and leverage action trigger |
US7950710B2 (en) * | 2007-04-03 | 2011-05-31 | Kabushiki Kaisha Yaskawa Denki | Robot |
Family Cites Families (28)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB1323673A (en) * | 1969-06-13 | 1973-07-18 | Nat Res Dev | Gripping |
JPS58132484A (en) * | 1982-01-27 | 1983-08-06 | 株式会社東芝 | Manipulator |
JPS59107890A (en) * | 1982-12-10 | 1984-06-22 | 株式会社クボタ | Robot hand |
JPS6025686A (en) * | 1983-07-20 | 1985-02-08 | 株式会社東芝 | Robot hand |
US4545723A (en) * | 1983-09-30 | 1985-10-08 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Apparatus for adapting an end effector device remotely controlled manipulator arm |
US4746894A (en) * | 1986-01-21 | 1988-05-24 | Maurice Zeldman | Method and apparatus for sensing position of contact along an elongated member |
US5062855A (en) * | 1987-09-28 | 1991-11-05 | Rincoe Richard G | Artifical limb with movement controlled by reversing electromagnet polarity |
US5108140A (en) * | 1988-04-18 | 1992-04-28 | Odetics, Inc. | Reconfigurable end effector |
US4957320A (en) * | 1988-08-31 | 1990-09-18 | Trustees Of The University Of Pennsylvania | Methods and apparatus for mechanically intelligent grasping |
US5200679A (en) * | 1990-02-22 | 1993-04-06 | Graham Douglas F | Artificial hand and digit therefor |
US5373747A (en) * | 1991-03-30 | 1994-12-20 | Kabushiki Kaisha Toshiba | Robot hand and robot |
JP3279664B2 (en) * | 1992-08-28 | 2002-04-30 | 株式会社東芝 | Tactile sensor device and robot hand |
JP3621782B2 (en) * | 1996-06-21 | 2005-02-16 | 本田技研工業株式会社 | Force sensor device |
JPH10249775A (en) * | 1997-03-11 | 1998-09-22 | Kubota Corp | Robot hand finger |
JPH10249767A (en) * | 1997-03-13 | 1998-09-22 | Mitsubishi Electric Corp | Moving-type body holding device and control method of the same |
US6247738B1 (en) * | 1998-01-20 | 2001-06-19 | Daum Gmbh | Robot hand |
JP2000000790A (en) * | 1998-06-12 | 2000-01-07 | Meidensha Corp | Robot having work hand |
JP3914157B2 (en) * | 2001-01-23 | 2007-05-16 | 本田技研工業株式会社 | Multi-finger hand device |
JP2006136983A (en) * | 2004-11-12 | 2006-06-01 | Sharp Corp | Detection method in distribution type tactile sensor for robot hand and robot hand |
US7658119B2 (en) * | 2006-03-28 | 2010-02-09 | University Of Southern California | Biomimetic tactile sensor |
JP2008073824A (en) * | 2006-09-25 | 2008-04-03 | Nachi Fujikoshi Corp | Hand device of industrial robot |
JP4918004B2 (en) * | 2006-11-24 | 2012-04-18 | パナソニック株式会社 | Multi-fingered robot hand |
TWI306054B (en) * | 2006-12-19 | 2009-02-11 | Ind Tech Res Inst | Tactile sensing device and an robotic apparatus using thereof |
JP2010528267A (en) * | 2007-05-18 | 2010-08-19 | ユニバーシティ オブ サザン カリフォルニア | Biomimetic tactile sensor for grip control |
JP4965413B2 (en) * | 2007-11-26 | 2012-07-04 | トヨタ自動車株式会社 | Robot hand |
KR101674894B1 (en) * | 2009-12-21 | 2016-11-10 | 삼성전자 주식회사 | Industrial multi-freedom gripper |
US8662552B2 (en) * | 2010-02-23 | 2014-03-04 | Massachusetts Institute Of Technology | Dexterous and compliant robotic finger |
JP2012166297A (en) * | 2011-02-14 | 2012-09-06 | Seiko Epson Corp | Robot hand and robot apparatus |
-
2012
- 2012-10-11 JP JP2012226109A patent/JP6111589B2/en active Active
-
2013
- 2013-09-25 US US14/036,100 patent/US9016742B2/en not_active Expired - Fee Related
- 2013-09-25 CN CN201310447623.9A patent/CN103722557B/en not_active Expired - Fee Related
-
2015
- 2015-03-31 US US14/674,887 patent/US20150202778A1/en active Granted
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7370896B2 (en) * | 2003-12-30 | 2008-05-13 | Strider Labs, Inc. | Robotic hand with extendable palm |
US7665782B2 (en) * | 2005-08-12 | 2010-02-23 | Reid Industries | Pick up device with locking mechanism and leverage action trigger |
US7950710B2 (en) * | 2007-04-03 | 2011-05-31 | Kabushiki Kaisha Yaskawa Denki | Robot |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106142112A (en) * | 2016-08-19 | 2016-11-23 | 清华大学 | Idle running kinematic link gear flat folder adaptive robot finger apparatus |
CN106564065A (en) * | 2016-08-31 | 2017-04-19 | 清华大学 | Herringbone connecting rod, rack and sliding block linear parallel clamping self-adaption finger device |
CN108602192A (en) * | 2016-10-28 | 2018-09-28 | 深圳蓝胖子机器人有限公司 | Manipulator and robot |
CN107984484A (en) * | 2017-11-22 | 2018-05-04 | 清华大学 | The accurate compensating line in end puts down folder adaptive robot finger apparatus |
Also Published As
Publication number | Publication date |
---|---|
US20140103673A1 (en) | 2014-04-17 |
JP2014076524A (en) | 2014-05-01 |
CN103722557A (en) | 2014-04-16 |
JP6111589B2 (en) | 2017-04-12 |
CN103722557B (en) | 2018-09-07 |
US9016742B2 (en) | 2015-04-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9016742B2 (en) | Robot hand, robot device and method of manufacturing robot hand | |
US9539728B2 (en) | Robot hand and robot device | |
JP5929215B2 (en) | Robot hand and robot device | |
JP6756166B2 (en) | Force sensor unit and robot | |
US8250901B2 (en) | System and method for calibrating a rotary absolute position sensor | |
US8950285B2 (en) | Robot joint driving method, computer-readable medium, device assembly and robot having the same | |
Liu et al. | The modular multisensory DLR-HIT-Hand | |
JP5480081B2 (en) | Rotary series type elastic actuator | |
US9339933B2 (en) | Robot, robot control device, and robot system | |
US8806974B2 (en) | Device for transmitting movements and components thereof | |
Gao et al. | The HIT/DLR dexterous hand: work in progress | |
JP2013094916A (en) | Multi-fingered type hand device | |
FR2900857B1 (en) | MANIPULATOR ROBOT | |
US9327409B2 (en) | Robot, robot control device, and robot system | |
CN106584499B (en) | Flexible manipulator, massage robot and mechanical massage system | |
CN212218476U (en) | Torque-controllable rotary driver and robot system | |
WO2018076303A1 (en) | Robotic arm and robot | |
CN109318245A (en) | Force checking device and robot | |
CN105171767A (en) | Multi-sensor, multi-independent-freedom-degree and multi-finger robot hand | |
JP2020533185A (en) | Unibody flexion structure for displacement-based force / torque detection | |
KR101050229B1 (en) | Robot hand with torque sensor | |
CN106903710B (en) | Humanoid dexterous hand base joint mechanism | |
CN110774275B (en) | Mechanical arm | |
US20180297195A1 (en) | Parallel link robot and operation apparatus | |
KR20130020471A (en) | Two degree-of-freedom positioning robot manipulator using single servo motor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
STCB | Information on status: application discontinuation |
Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION |