WO2009107164A1 - ロボットハンドの指機構 - Google Patents
ロボットハンドの指機構 Download PDFInfo
- Publication number
- WO2009107164A1 WO2009107164A1 PCT/JP2008/000320 JP2008000320W WO2009107164A1 WO 2009107164 A1 WO2009107164 A1 WO 2009107164A1 JP 2008000320 W JP2008000320 W JP 2008000320W WO 2009107164 A1 WO2009107164 A1 WO 2009107164A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- finger
- link
- robot hand
- finger link
- distal
- Prior art date
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- 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
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20317—Robotic arm including electric motor
Definitions
- the present invention relates to a finger mechanism of a robot hand, and more particularly to an improved technique for achieving a reduction in size and cost.
- Patent Documents 1 and 2 As the robot hand for gripping and handling an object, those disclosed in Patent Documents 1 and 2 have been proposed by the applicant of the present application.
- the force for driving the finger in the opening direction is larger than the force required for driving the finger in the direction of gripping the object. May be small and there is a large difference between the forces required depending on the driving direction.
- the electromagnetic motor used for driving the finger joint of the robot hand generates the same torque regardless of the rotation direction. Therefore, it is necessary to use an actuator capable of generating a driving torque necessary for gripping in the finger mechanism of the robot hand.
- an object of the present invention is to propose a finger mechanism of a robot hand that can obtain a driving force required in the gripping direction of the robot hand using a low-output and small actuator.
- the finger mechanism of the robot hand of the present invention is: A root-side finger link and a tip-side finger link constituting the fingers of the robot hand; A finger joint axis that couples the tip side finger link to the root side finger link so as to be pivotable in a gripping direction and an opening direction of the robot hand; A biasing member that constantly biases the distal finger link with a predetermined force in the grip direction; And a motor for rotating the distal finger link in the grip direction and the opening direction about the finger joint axis.
- a coil spring or a torsion spring spanned between the tip side finger link and the root side finger link can be used as the biasing member.
- the articulated finger mechanism of the robot hand of the present invention is A root side finger link, at least one intermediate finger link, and a tip side finger link constituting the fingers of the robot hand;
- a distal-side finger joint axis that couples the distal-side finger link to the intermediate finger link so as to be pivotable in a gripping direction and an opening direction of the robot hand;
- a root-side finger joint axis that connects the intermediate finger link to the root-side finger link so as to be pivotable in a gripping direction and an opening direction of the robot hand;
- a tip side biasing member that constantly biases the tip side finger link with a predetermined force in the grip direction;
- a distal motor for rotating the distal finger link in the gripping direction and the opening direction around the distal finger joint axis;
- a root side biasing member that constantly biases the intermediate finger link with a predetermined force in the grip direction;
- And a root-side motor for turning the intermediate finger link in the gripping direction and the opening direction about the root-side
- a coil spring or a torsion spring can be used as the tip side biasing member and the root side biasing member.
- the tip side finger link of the robot hand finger is always urged in the gripping direction of the robot hand by an urging member such as a coil spring.
- an urging member such as a coil spring.
- FIG. 1 is an explanatory view showing the main part of the finger mechanism of the robot hand according to the present embodiment.
- the finger mechanism 1 of the robot hand includes one or a plurality of fingers or a finger unit 2, and only one finger unit is shown in the figure.
- the finger unit 2 includes a distal-side finger link 3, a root-side finger link 4, and a finger joint portion 5 that connects these.
- the distal finger link 3 is formed of, for example, an elongated plate member, and the rear end portion 3b is connected and fixed to the finger joint shaft 6 of the finger joint portion 5 in a state extending in a direction perpendicular to the central axis 6a. ing. When the finger joint shaft 6 is rotated, the distal finger link 3 turns in the gripping direction A and the opening direction B of the robot hand around the finger joint shaft 6.
- the finger joint shaft 6 of the finger joint portion 5 is supported in a freely rotatable state by the distal end portion 4 a of the root side finger link 4.
- the finger joint portion 5 includes an electromagnetic motor 7, and the finger joint shaft 6 is rotationally driven by the electromagnetic motor 7.
- the rear end portion 4b of the root side finger link 4 is attached to, for example, a part that defines the palm (not shown) of the robot hand.
- the torsion coil spring 8 is arranged on the finger joint shaft 6 so as to surround the outer peripheral surface in a coaxial state.
- One end 8a of the torsion coil spring 8 is connected to a spring hook 9 fixed to the side surface of the distal end portion 3a of the distal side finger link 3, and the other end 8b extends from the distal end portion 4a to the rear end portion 4b of the root side finger link 4. It is connected to the spring hook 10 fixed to the side surface of the intermediate part between the two.
- the torsion coil spring 8 always applies a spring force in the gripping direction A about the finger joint axis 6 to the distal finger link 3.
- the distal finger link 3 in order to drive the distal finger link 3 in the gripping direction A, it is only necessary to have a driving torque twice that in the case of driving it in the opening direction B.
- the distal finger link 3 is driven in the opening direction B, it is necessary to drive the distal finger link 3 against the spring force of the torsion coil spring 8, so that twice as much driving torque is required.
- the distal finger link 3 can be driven in the gripping direction A and the opening direction B by using the electromagnetic motor 7 capable of generating twice the driving torque. Therefore, it is not necessary to use a large and expensive motor capable of generating three times the driving torque as in the conventional case, so that the efficiency of use of the motor is improved, and it is advantageous for miniaturization and cost reduction of the finger mechanism. .
- FIG. 2 is an explanatory view showing the main part of the finger mechanism of the robot hand when a tension coil spring is used as the biasing member that biases the tip side finger link 3 in the gripping direction.
- a tension coil spring is used as the biasing member that biases the tip side finger link 3 in the gripping direction.
- a tension coil spring 8A is stretched in a tension state.
- the finger mechanism 1 ⁇ / b> A of the robot hand having this configuration also has the same operational effects as the finger mechanism 1 shown in FIG. 1.
- an intermediate finger link is connected between the tip side finger link 3 and the root side finger link 4 to constitute a two-joint finger mechanism including a tip side joint portion and a root side joint portion, and the tip side finger link 3 Is always urged in the grip direction by the tip side urging member, and the intermediate finger link is always urged in the grip direction by the root side urging member.
- the electromagnetic motor for driving the distal finger link and the electromagnetic motor for driving the intermediate finger link can be reduced in size, which is advantageous in reducing the size and cost of the finger mechanism.
- the tip side finger link is always urged in the direction of gripping the robot hand by the urging member such as a coil spring.
- the tip side finger link and the intermediate finger link are always urged in the gripping direction of the robot hand by an urging member such as a coil spring. Accordingly, since a driving force for driving the distal side finger link and the intermediate finger link in the grip direction is small, a small capacity motor can be used as a driving mechanism for the finger joint portion. Therefore, it is advantageous for miniaturization and cost reduction of the finger mechanism.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
ロボットハンドの指を構成している根元側指リンクおよび先端側指リンクと、
前記先端側指リンクを前記根元側指リンクに対して前記ロボットハンドの握り方向および開き方向に旋回可能に連結している指関節軸と、
前記先端側指リンクを前記握り方向に所定の力で常に付勢している付勢部材と、
前記先端側指リンクを前記指関節軸を中心として前記握り方向および前記開き方向に旋回させるためのモータとを有していることを特徴としている。
ロボットハンドの指を構成している根元側指リンク、少なくとも1本の中間指リンク、および先端側指リンクと、
前記先端側指リンクを前記中間指リンクに対して前記ロボットハンドの握り方向および開き方向に旋回可能に連結している先端側指関節軸と、
前記中間指リンクを前記根元側指リンクに対して前記ロボットハンドの握り方向および開き方向に旋回可能に連結している根元側指関節軸と、
前記先端側指リンクを前記握り方向に所定の力で常に付勢している先端側付勢部材と、
前記先端側指リンクを前記先端側指関節軸を中心として前記握り方向および前記開き方向に旋回させるための先端側モータと、
前記中間指リンクを前記握り方向に所定の力で常に付勢している根元側付勢部材と、
前記中間指リンクを前記根元側指関節軸を中心として前記握り方向および前記開き方向に旋回させるための根元側モータとを有していることを特徴としている。
2 指ユニット
3 先端側指リンク
3a 先端部
3b 後端部
4 根元側指リンク
4a 先端部
4b 後端部
5 関節部
6 関節軸
6a 中心軸線
7 電磁モータ
8 ねじりコイルバネ
8A 引張りコイルバネ
9、9A、10、10A バネ掛け
A ロボットハンドの握り方向
B ロボットハンドの開き方向
Claims (4)
- ロボットハンドの指(2)を構成している根元側指リンク(4)および先端側指リンク(3)と、
前記先端側指リンク(3)を前記根元側指リンク(4)に対して前記ロボットハンドの握り方向(A)および開き方向(B)に旋回可能に連結している指関節軸(6)と、
前記先端側指リンク(3)を前記握り方向(A)に所定の力で常に付勢している付勢部材(8、8A)と、
前記先端側指リンク(3)を前記指関節軸(6)を中心として前記握り方向(A)および前記開き方向(B)に旋回させるためのモータ(7)とを有していることを特徴とするロボットハンドの指機構(1)。 - 請求項1に記載のロボットハンドの指機構(1)において、
前記付勢部材は、前記先端側指リンクおよび前記根元側指リンクの間に掛け渡したコイルバネ(8A)、あるいは、ねじりバネ(8)であることを特徴とするロボットハンドの指機構(1)。 - ロボットハンドの指(2)を構成している根元側指リンク(4)、少なくとも1本の中間指リンク、および先端側指リンク(3)と、
前記先端側指リンク(3)を前記中間指リンクに対して前記ロボットハンドの握り方向(A)および開き方向(B)に旋回可能に連結している先端側指関節軸(6)と、
前記中間指リンクを前記根元側指リンク(4)に対して前記ロボットハンドの握り方向(A)および開き方向(B)に旋回可能に連結している根元側指関節軸(6)と、
前記先端側指リンク(3)を前記握り方向(A)に所定の力で常に付勢している先端側付勢部材(8、8A)と、
前記先端側指リンク(3)を前記先端側指関節軸(6)を中心として前記握り方向(A)および前記開き方向(B)に旋回させるための先端側モータ(7)と、
前記中間指リンクを前記握り方向(A)に所定の力で常に付勢している根元側付勢部材(8,8A)と、
前記中間指リンクを前記根元側指関節軸(6)を中心として前記握り方向(A)および前記開き方向(B)に旋回させるための根元側モータ(7)とを有していることを特徴とするロボットハンドの多関節型指機構(1)。 - 請求項3に記載のロボットハンドの指機構(1)において、
前記先端側付勢部材は、前記先端側指リンク(3)および前記中間指リンクの間に掛け渡したコイルバネ(8A)、あるいは、ねじりバネ(8)であり、
前記根元側付勢部材は、前記中間指リンクおよび前記根元側指リンク(4)の間の掛け渡したコイルバネ(8A)、あるいは、ねじりバネ(8)であることを特徴とするロボットハンドの多関節型指機構(1)。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN2008801275714A CN101952088A (zh) | 2008-02-25 | 2008-02-25 | 机器手的手指机构 |
JP2010500448A JPWO2009107164A1 (ja) | 2008-02-25 | 2008-02-25 | ロボットハンドの指機構 |
US12/735,782 US20110017008A1 (en) | 2008-02-25 | 2008-02-25 | Finger mechanism of robot hand |
PCT/JP2008/000320 WO2009107164A1 (ja) | 2008-02-25 | 2008-02-25 | ロボットハンドの指機構 |
DE112008003736T DE112008003736T5 (de) | 2008-02-25 | 2008-02-25 | Roboterhand-Fingermechanismus |
TW098101532A TW200944346A (en) | 2008-02-25 | 2009-01-16 | Finger mechanism of robot hand |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2008/000320 WO2009107164A1 (ja) | 2008-02-25 | 2008-02-25 | ロボットハンドの指機構 |
Publications (1)
Publication Number | Publication Date |
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WO2009107164A1 true WO2009107164A1 (ja) | 2009-09-03 |
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Application Number | Title | Priority Date | Filing Date |
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PCT/JP2008/000320 WO2009107164A1 (ja) | 2008-02-25 | 2008-02-25 | ロボットハンドの指機構 |
Country Status (6)
Country | Link |
---|---|
US (1) | US20110017008A1 (ja) |
JP (1) | JPWO2009107164A1 (ja) |
CN (1) | CN101952088A (ja) |
DE (1) | DE112008003736T5 (ja) |
TW (1) | TW200944346A (ja) |
WO (1) | WO2009107164A1 (ja) |
Cited By (2)
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---|---|---|---|---|
WO2011081851A3 (en) * | 2009-12-14 | 2011-09-29 | Kinea Design, LLC | One motor finger mechanism |
WO2018164178A1 (ja) * | 2017-03-09 | 2018-09-13 | 日本電産コパル株式会社 | 駆動アシスト装置 |
Families Citing this family (8)
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US8936290B1 (en) | 2012-08-29 | 2015-01-20 | Sandia Corporation | Robotic hand with modular extensions |
CN102862163A (zh) * | 2012-09-12 | 2013-01-09 | 南昌大学 | 基于扭绳驱动的机器人手指 |
JP5690318B2 (ja) * | 2012-11-14 | 2015-03-25 | Thk株式会社 | ロボットハンド |
US9138897B1 (en) | 2013-04-30 | 2015-09-22 | Sandia Corporation | Mechanisms for employment with robotic extensions |
US9669551B1 (en) | 2013-04-30 | 2017-06-06 | Sandia Corporation | Robotic hand and fingers |
US10584926B1 (en) | 2013-12-19 | 2020-03-10 | National Technology & Engineering Solutions Of Sandia, Llc | System and method for cooling using a heat exchanger having a membrane |
CN105563453A (zh) * | 2016-03-08 | 2016-05-11 | 大连理工大学 | 一种带有弹簧驱动机械臂的两轮自主移动平台 |
MX2019007093A (es) | 2019-06-14 | 2019-12-16 | Pro/Bionics S A De C V | Protesis de dedo con activacion biologica ajustable. |
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2008
- 2008-02-25 JP JP2010500448A patent/JPWO2009107164A1/ja active Pending
- 2008-02-25 CN CN2008801275714A patent/CN101952088A/zh active Pending
- 2008-02-25 WO PCT/JP2008/000320 patent/WO2009107164A1/ja active Application Filing
- 2008-02-25 US US12/735,782 patent/US20110017008A1/en not_active Abandoned
- 2008-02-25 DE DE112008003736T patent/DE112008003736T5/de not_active Withdrawn
-
2009
- 2009-01-16 TW TW098101532A patent/TW200944346A/zh unknown
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JP2006000992A (ja) * | 2004-06-18 | 2006-01-05 | Toyota Motor Corp | ロボットハンド |
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Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011081851A3 (en) * | 2009-12-14 | 2011-09-29 | Kinea Design, LLC | One motor finger mechanism |
US8470051B2 (en) | 2009-12-14 | 2013-06-25 | Hdt Robotics, Inc. | One motor finger mechanism |
US9211200B2 (en) | 2009-12-14 | 2015-12-15 | Hdt Expeditionary Systems, Inc. | One motor finger mechanism |
US10052216B2 (en) | 2009-12-14 | 2018-08-21 | Hdt Expeditionary Systems, Inc. | One motor finger mechanism |
WO2018164178A1 (ja) * | 2017-03-09 | 2018-09-13 | 日本電産コパル株式会社 | 駆動アシスト装置 |
JP2018144217A (ja) * | 2017-03-09 | 2018-09-20 | 日本電産コパル株式会社 | 駆動アシスト装置 |
Also Published As
Publication number | Publication date |
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US20110017008A1 (en) | 2011-01-27 |
DE112008003736T5 (de) | 2011-02-24 |
TW200944346A (en) | 2009-11-01 |
CN101952088A (zh) | 2011-01-19 |
JPWO2009107164A1 (ja) | 2011-06-23 |
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