WO2020075414A1

WO2020075414A1 - Robot hand

Info

Publication number: WO2020075414A1
Application number: PCT/JP2019/034201
Authority: WO
Inventors: 貴大安部; 保幸小林; 中村　一也
Original assignee: アダマンド並木精密宝石株式会社
Priority date: 2018-10-09
Filing date: 2019-08-30
Publication date: 2020-04-16
Also published as: JP7341505B2; JPWO2020075414A1

Abstract

[Problem] To provide compact size, light weight, dexterity, and safety. [Solution] A robot hand comprising: a palm section 10; three or more finger sections that are supported by the palm section 10; and drive sources that cause each finger section to move, wherein the three or more finger sections include at least a first finger section 20 and a second finger section 30 that faces a different direction from this first finger section 20, each of the first finger section 20 and the second finger section 30 has two or more degrees of freedom, including an adduction/abduction movement with an angle of 90 degrees or greater and a flexion/extension movement in a direction intersecting the adduction/abduction movement, the drive sources are provided for each movement of the finger sections, and at least one of the drive sources is provided with a clutch mechanism that cuts off an output due to a prescribed or greater load.

Description

Robot hand

ㆍ It relates to a robot hand that can hold a workpiece by bending the fingers supported by the palm.

In recent years, a system in which a human and a robot work together on the same manufacturing line has been developed and put into practical use (see, for example, Patent Document 1). The collaborative robot used in such a system is required to be compact and lightweight from the viewpoints of space saving and ease of installation.
Furthermore, dexterous finger movements are required so that one robot hand can perform various tasks. In addition, safety is required so that the robot hand in operation does not damage the work or come into contact with a person.

JP, 2017-039170, A

Therefore, an object of the present invention is to provide a robot hand that is compact, lightweight, dexterous, and safe.

In view of such a problem, the present invention has the following configuration.
In a robot hand including a palm portion, three or more finger portions supported by the palm portion, and a drive source for moving the finger portions, the three or more finger portions include at least a first finger portion. And a second finger portion that faces a different direction with respect to the first finger portion, and each of the first finger portion and the second finger portion has an inner / outer motion of an angle of 90 degrees or more. , Having two or more degrees of freedom including bending and stretching movements in a direction intersecting the inner and outer rotation movements, the drive source is provided for each of the movements, and at least one of the drive sources has a predetermined load or more. A robot hand characterized by being provided with a clutch mechanism for cutting off the output.

Since the present invention is configured as described above, it can be compact, lightweight, dexterous, and safe.

It is a perspective view showing an example of the robot hand concerning the present invention. It is a perspective view showing the robot hand with the cover removed. It is the perspective view which looked at the state where the cover was removed about the same robot hand from the back side of the hand. It is a side view which shows the grasping operation in the state where the cover was removed about the robot hand in order to (a) and (b). It is a side view which shows the grasping operation in the state where the cover was removed about the robot hand in order to (c) and (d). It is a perspective view showing an example of the operating state of the robot hand. It is a perspective view showing another example of the operating state of the robot hand. It is a perspective view showing another example of the operating state of the robot hand. It is a perspective view showing an example of a grasping operation state of the robot hand. It is a perspective view showing another example of the grasping operation state of the robot hand. It is a perspective view showing another example of the grasping operation state of the robot hand.

The following features are disclosed in the present embodiment.
A first feature is a robot hand including a palm part, three or more finger parts supported by the palm part, and a drive source for moving the finger parts, wherein at least the three or more finger parts have at least A first finger portion and a second finger portion facing different directions with respect to the first finger portion, each of the first finger portion and the second finger portion having an angle of 90 degrees. It has two or more degrees of freedom including the inner and outer rotation motions described above and bending and stretching motions in a direction intersecting the inner and outer rotation motions, the drive source is provided for each motion, and at least one of the drive sources is provided. A clutch mechanism that disconnects the output by a load of a predetermined value or more is provided (see FIGS. 1 to 11).
According to this configuration, for example, it is possible to obtain dexterity capable of realizing a wide variety of tasks required as a collaborative robot, and especially when an unexpected external force is received due to collision with another object. The safety of can be improved by the clutch mechanism. Specifically, by providing the clutch mechanism in the drive source for the inward / outward movement of the finger portion, the clutch mechanism functions with respect to a load greater than or equal to a predetermined load that the finger portion receives in the inward / outward movement direction. By providing the clutch mechanism in the drive source for flexion / extension movement of the finger portion, the clutch mechanism functions with respect to a load greater than or equal to a predetermined load that the finger portion receives in the extension / extension movement direction. By disposing at least one drive source provided with the clutch mechanism, the safety of the robot hand is improved. Furthermore, the greater the number of drive sources provided with the clutch mechanism and the arrangement (applied to all the drive sources at the maximum), the higher the safety when an unintended external force is applied.

As a second feature, in order to realize a more dexterous motion, the first finger portion has three or more degrees of freedom including one of the abduction and extension motions and the two bending and extension motions of two or more joints. (See FIG. 8).

As a third feature, at least one finger of the three or more fingers is a drive source for the abduction / abduction motion so as to be a specific mode of the finger having improved safety. The clutch mechanism is provided in at least one driving source for bending and stretching movements.

As a fourth characteristic, in order to improve the independent operability of each finger portion, the palm portion is provided with three or more supporting portions protruding in different directions according to the number of the finger portions, and each supporting portion. It supports the base side of each finger portion (see FIGS. 1, 2, and 6 to 8).

As a fifth feature, in order to reliably grip an object larger than the palm, at least one of the three or more finger portions has a plurality of nodes arranged in the longitudinal direction, A familiar gripping mechanism that sequentially bends these nodes from the finger side is configured (see FIGS. 4 and 5).

The sixth feature is that some or all of the finger parts are detachably attached in order to improve maintainability and facilitate various tasks.

As a seventh feature, in order to enable a more dexterous operation, at least one of the three or more finger portions is supported by the palm portion by inclining the portion on the finger base side toward the palm inner side. (See FIGS. 1 to 3 and 11).

<Specific embodiment>
Next, specific embodiments having the above features will be described in detail with reference to the drawings.
The robot hand 1 includes a palm section 10, three or more (three in the illustrated example) first to

third finger sections

20, 30, and 40 supported by the palm section 10, and bending and stretching of each finger section. It is provided with a plurality of

drive sources

51, 52, 53, 54, 55 for exercising and inward and outward movements.

▽ Here, the bending and stretching movement is the movement to bend or extend the joint part of each finger. Further, the abduction / abduction motion is a motion in a direction substantially orthogonal to the bending / expanding motion, and each finger part is rotated such that the finger base side thereof is a fulcrum and the finger parts are adjacent to each other, This is a motion of rotating the finger so that it is moved away from the adjacent finger part.

The palm portion 10 has a T-shape in a plan view having three or more (three in the illustrated example) first to

third support portions

11, 12, and 13 that radially project in different directions depending on the number of finger portions. Alternatively, it is formed in a Y-shaped flat plate shape. (See Figures 1 and 2)

A support base 11a that supports a finger base side of a first finger portion 20 described later is fixed to the back surface (back surface of the hand) of the first support portion 11 (see FIG. 2).
The support base 11a has an inclined support surface 11a1 on the projecting end side protruding from the back surface of the support portion 11. The support surface 11a1 supports the base joint portion 21 on the finger base side of the first finger portion 20 so as to rotate inward and outward in a state of being inclined inward of the palm.

On the back surface side of the second support portion 12, second finger portions 30 facing different directions with respect to the first finger portions 20 are provided.
Similarly, on the back surface side of the third support portion 13, a third finger portion 40 facing a different direction with respect to the first finger portion 20 is provided.

Also, the connected portion 14 connected to the tip of the robot arm or the like is fixed and protrudes on the center side of the rear surface of the palm portion 10.

The first finger portion 20 has two or more degrees of freedom including an inner / outer movement of 90 degrees or more and a bending / extending movement in a direction substantially orthogonal to the inner / outer movement. In particular, according to a preferred example of the present embodiment, the first finger portion 20 has four degrees of freedom including one inward / outward movement of 180 degrees or more and three flexion / extension movements for each joint.
Here, the degree of freedom means the number of independent single movements in each finger, and in the present embodiment, this degree of freedom (number) corresponds to the number of drive sources corresponding to each finger.

The first finger portion 20 has a base joint portion 21 pivotally supported on the support base 11a so as to be able to rotate in and out, and a first joint portion 22 pivotally supported on the base joint portion 21 so as to be bendable and extendable. A second knuckle portion 23 pivotably supported on the first knuckle portion 22 and a third knuckle portion 24 pivotably supported on the second knuckle portion 23 in the longitudinal direction are provided. It is equipped side by side. Then, the first finger portion 20 bends and extends these plurality of joint portions by the power of a drive source (not shown) that is present so as to correspond to each joint.

The finger base side of the base joint part 21 is rotatably supported via an axis substantially orthogonal to the inclined support surface 11a1 of the support base 11a.
Therefore, the tip end side of the base joint portion 21 is inclined with respect to the palm portion 10.
The base joint part 21 rotates in and out by the power of the drive source 51 supported by the support base 11a.

The drive source 51 is an electric servomotor whose rotation angle, rotation speed, and the like are appropriately controlled, and transmits the rotational force of the built-in motor to the output shaft via a gear and a clutch mechanism. Composed. The output shaft is connected and fixed to the center of rotation of the base part 21.
The clutch mechanism is a mechanism that disconnects the output (rotational force) from the built-in motor by a load of a predetermined amount or more received from the work side (or the base node portion 21 side).
For the electric servomotor and the clutch mechanism, for example, the clutch device and the motor unit disclosed in the republished patent WO2017 / 002464 can be preferably used.

The first node 22 is supported so as to rotate (flexing movement) substantially orthogonal to the inner and outer rotations with the tip side of the base node 21 as a fulcrum.
A drive source for bending and extending the first node 22 is an electric servomotor (not shown) that is present inside the first node 22 on the finger base side.

The second knuckle 23 is supported so as to rotate (flexing and stretching) in the same direction as the first knuckle 22 with the fingertip side of the first knuckle 22 as a fulcrum.
The drive source for bending and extending the second node 23 is an electric servomotor (not shown) that is present inside the first node 22 on the fingertip side.

The third knuckle portion 24 is supported so as to rotate (bend / extend) in the same direction as the second knuckle portion 23 with the fingertip side of the second knuckle portion 23 as a fulcrum. It constitutes the entire fingertip.
A drive source for bending and extending the third node portion 24 is an electric servomotor (not shown) that is internally provided on the fingertip side of the second node portion 23.

The drive source for bending and extending the first node 22, the second node 23, and the third node 24 may have the same configuration as the drive source 51 for the inner and outer rotation motions described above. .

Further, each of the second finger portion 30 and the third finger portion 40 includes two or more (according to the illustrated example) including an inner / outer movement of 90 degrees or more and a bending / extending movement in a direction substantially orthogonal to the inner / outer movement. Have two degrees of freedom.

The second finger portion 30 is a base joint portion S pivotably supported by the second support portion 12 of the palm portion 10 so as to be able to rotate in and out, and a first joint portion pivotally supported by the base joint portion S so as to be bendable and extendable. No. S1, a second nodal section S2 pivotably supported with respect to the first nodal section S1, and a third nodal section S3 pivotally supported with respect to the second nodal section S2. And are arranged side by side in the longitudinal direction. Then, the second finger portion 30 sequentially bends the plurality of joint portions from the finger base side by the power of the single drive source 53. In this embodiment, a mechanism that performs such a bending operation is referred to as a familiar gripping mechanism.

The base portion S has its finger base side rotatably supported on the back surface of the support portion 12 via an axis that is substantially orthogonal. Then, the base node portion S rotates in and out by the power of the drive source 52 supported on the base side of the connected portion 14. The drive source 52 is a servo motor having the same structure as the drive source 51.

The first node S1 is supported so as to rotate (bend / extend) substantially orthogonal to the inner / outer rotation with the tip side of the base node S as a fulcrum.
The drive source 53 that bends and extends the first node S1 is an electric servomotor that is internally provided on the fingertip side of the base node S, and may have the same configuration as the

drive sources

51 and 52, for example.

Also, the second node S2 and the third node S3 bend and extend by the power transmitted from the drive source 53 via the link mechanism described later.

The link mechanism will be described in detail. A first node S1 is rotatably supported on the output shaft of the drive source 53, and the base end side of the first actuation link R1 is connected to the drive source 53. It is non-rotatably connected to the output shaft (see FIG. 4 (a)).
The first operating link R1 is extended in a direction intersecting the extending direction of the first node S1, and the second operating link R2 is provided on the end side (rotating end side) in the extending direction. The base side is rotatably supported.
The second operation link R2 is extended to the fingertip side in a substantially parallel link shape along the first node S1.

The finger base side of the second node S2 is rotatably supported by the fingertip side of the first node S1 at the fingertip side of the first node S1. The second operation link R2 is rotatably supported on the fingertip side.

Further, on the fingertip side of the first node S1, at a position P3 that is radially away from the pivot portion P1 of the second node S2 and is on the opposite side to the second operation link R2 side, The proximal end side of the operating link R3 of is rotatably supported.
The third actuation link R3 is extended in a side view crossing manner with respect to the second joint S2, and its fingertip side is rotatably supported with respect to the third joint S3, whereby the second joint The third node S3 rotates in the same rotation direction as the center P1 of the portion S2 rotates.

Further, between the first node S1 and the second node S2, two magnets M1 and M2 for attracting or attracting these two nodes and holding them at the initial position are provided. An abutting surface S1a and an abutted surface S2a that are in contact with each other and are separated from each other as the second node S2 is bent are provided.

The contact surface S1a is a front end surface of a step provided on the fingertip side of the first node S1 and is formed in a flat shape.
The contacted surface S2a is a flat surface located on the finger base side of the second node S2, and overlaps the contact surface S1a at the initial position (see FIG. 4A).

Further, a part of the first node S1 on the fingertip side of the contact surface S1a and a part of the second node S2 on the finger base side overlap each other on the side surfaces, and the two magnets M1 and M2 are It is provided so as to suck the overlapping side surfaces (see FIG. 4).
That is, one magnet M1 faces the finger side of the second node S2 on the fingertip side of the contact surface S1a of the first node S1 so as to face the first node S1. Embedded in.
The other magnet M2 is embedded in the second node S2 such that the magnet M1 and the magnetic pole (N pole or S pole) face each other on the finger side of the second node S2.

At the initial position shown in FIG. 4A, the two magnets M1 and M2 do not completely overlap with each other, and the magnet M2 has a direction in which the magnet M2 bends and rotates the second node S2 (see FIG. According to (), it is slightly deviated to the counterclockwise direction about P1). With this configuration, the second node S2 is sucked in the extension rotation direction (clockwise around P1 in FIG. 4A) at the initial position.
The attraction force between the magnets M1 and M2 is set to be smaller than the rotational force of the second node S2 transmitted from the drive source 52 by the first and second operation links R1 and R2.

In addition, as in the illustrated example, each of the above-mentioned nodes and each of the operating links are used singly or in parallel in the width direction. This number is appropriately set in consideration of strength, operability, and the like.
In addition, reference numeral c in the drawing denotes a cover member that covers the back side of each node, the drive source, and the like. Reference numeral q is a non-slip member made of an elastic synthetic resin material. The cover member c and the non-slip member q may be an integral member or may be composed of a plurality of members.

Further, the third finger portion 40 is substantially similar to the second finger portion 30, and the base joint portion S, the first joint portion S1, the second joint portion S2, the third joint portion S3, and the base joint portion. The drive source 54 for turning the part S in and out, the drive source 55 for bending the first node S1, the first operating link R1, the second operating link R2, the third operating link R3, the magnets M1, M2, etc. It is equipped (see FIGS. 2 and 3).

In the robot hand 1 having the above configuration, some or all of the finger portions are detachably attached.
That is, according to a preferred example of the present embodiment, the first finger section 20, the second finger section 30, and the third finger section 40 are respectively attached to the palm section 10 by screwing or fitting. It is connected so that it can be removed and replaced.
Further, a part of the finger portion, such as the third joint portion 24, the third joint portion S3, the anti-slip member q, etc., is attached so as to be attachable / detachable and replaceable by screwing or fitting.

Next, the characteristic effects of the robot hand 1 having the above configuration will be described in detail.
4 to 5 show a state in which the second finger portion 30 of the robot hand 1 has been made to perform a familiar grasping operation. The same applies to the familiar grip operation of the third finger portion 40.

First, when the output shaft of the drive source 53 is rotated in the bending rotation direction by supplying power to the drive source 53, the first operation link R1 fixed to the output shaft is integrally rotated in the same rotation direction. (See FIGS. 4A and 4B).
During this rotation, the space between the first node S1 and the second node S2 (joint portion) is not bent because it is attracted by the magnets M1 and M2.

During the rotation by the power of the drive source 53, when the first node S1 (specifically, the non-slip member q) contacts the work W and the rotation of the first node S1 is restrained, The node S2 of B is bent in the same rotation direction by the power of the drive source 53.
More specifically, when the first node S1 is constrained by contact with the work W (see FIG. 4B), the second node S2 has first and second operation links. By the power of the drive source 53 transmitted by R1 and R2, a rotational force in the same rotational direction (counterclockwise according to FIG. 4) acts. This rotational force acts so as to oppose the attraction force of the two magnets M1 and M2, and is greater than the attraction force between these magnets M1 and M2.
Therefore, the second node S2 pivots so as to bend from the initial position to separate the two magnets M1 and M2 from each other, and is released from the attraction force of these magnets M1 and M2 (see FIG. 5C). ).

Next, when the output shaft of the drive source 53 continues to rotate and the second node S2 continues to rotate, as shown in FIGS. 5 (c) and 5 (d), the action of the third actuation link R3 causes , The third node S3 rotates in the same rotation direction, and the tip portion (fingertip) thereof is pressed against the work W.

Further, when the second finger portion 30 is extended from the state where the second finger portion 30 is brought into contact with the work W as described above, the drive source 53 is reversed to move the first to the second fingers. The three nodes S1, S2, S3 and the first to third operating links R1, R2, R3 may be operated in the opposite direction to the above, and by this operation, the two magnets M1, M2 attract each other, Return to the initial position (see FIG. 4A).

In addition, in order to rotate the first finger portion 20, the second finger portion 30, and the third finger portion 40 in and out, the corresponding

drive source

51, 52, or 54 on the finger base side is energized to be desired. Rotate in the direction.

The bending movement of the first finger unit 20 is different from that of the second finger unit 30 and the third finger unit 40. By energizing a drive source (not shown) for each joint, the first finger portion 20 bends and extends the joint corresponding to the energized drive source.

In the robot hand 1 according to the present embodiment, various movements illustrated in FIGS. 6 to 11 are possible by appropriately controlling the above-mentioned plurality of drive sources.
In FIG. 6, three

fingers

20, 30, 40 are arranged in a T shape in a front view, the second finger 30 and the third finger 40 are extended, and the first finger 20 is located on the palm side. It shows a state of being inclined to.

In FIG. 7, three

fingers

20, 30, 40 are arranged in a Y shape when viewed from the front, the second finger 30 and the third finger 40 are bent, and the first finger 20 is located on the palm side. It shows a state of being inclined to.

In FIG. 8, the second finger portion 30 and the third finger portion 40 are bent substantially parallel to each other, and the first finger portion 20 undergoes adduction (or abduction) so that each joint of the first finger portion 20. Shows a state in which the is bent.

FIG. 9 is a state in which a grasping target such as a mouse for a computer is assumed, and the three

fingers

20, 30, 40 are appropriately turned in and out and bent to grasp a grasped object C composed of a flat surface and a curved surface. Indicates.

FIG. 10 shows a state in which a cylindrical rod-shaped grasping object B is grasped by appropriately bending inward and outward and bending the three

fingers

20, 30 and 40 on the assumption that a writing instrument or the like is grasped. In this gripping state, the three joints of the first finger section 20 are set to appropriate angles to control the posture of the third joint section 24 and the distance between the fingertip and the palm, and the cylinder of the gripping target B is controlled. By securely sandwiching the contact surface of the third node portion 24 and the opposing fingertips with respect to the outer peripheral surface, the contact points of the three

finger portions

20, 30, 40 are prevented from slipping.

FIG. 11 shows a state in which the syringe (injector) S is operated by appropriately inversion and bending of the three

fingers

20, 30, 40. The syringe S is composed of a tubular portion Sc and a pusher Sp whose tip extends into the tubular portion Sc. More specifically, the robot hand 1 holds the tubular portion Sc by the second finger portion 30, the third finger portion 40, and the palm portion 10, while the third finger portion of the first finger portion 20. The rear end of the pusher Sp is pushed by the force F from 24. In particular, the configuration in which the base node portion 21 of the first finger portion 20 is inclined toward the palm side facilitates such an operation.

Therefore, according to the robot hand 1, when the second node S2 is rotated in the bending direction with respect to the first node S1, when the rotation progresses to some extent, the attraction force between the two magnets M1 and M2 is increased. Does not work. For this reason, it is possible to reduce the load at the time of bending motion of each finger portion, and it is possible to reduce the power consumption of the drive source and reduce the size and weight of the drive source and each portion.

Moreover, according to the robot hand 1, it is possible to reliably grip the object to be gripped (work) by familiarizing each finger with a gripping operation or independently performing a complicated operation on each of the plurality of fingers. In addition, it is possible to perform various dexterous motions, for example, it is possible to perform a wide variety of tasks required as a collaborative robot.

Further, the robot hand 1 includes the clutch mechanism provided in each drive source even when the drive source of each finger receives an excessive load due to unintentional contact between each finger and an object during the above operation. The output side can be cut by this, and as a result, it is prevented that the gripping force for the work W is too strong and the work is damaged or deformed, or each finger or drive source is damaged due to excessive load. It is possible to ensure safety during flexion / extension exercise and adduction / abduction movement. As a result, it is possible to prevent an unintended force from being applied to the work, thereby damaging or deforming the work, or damaging the fingers or the motor with the built-in drive source due to an excessive load. In addition, even if the finger portion of the robot hand 1 comes into contact with a person unintentionally during work, the clutch mechanism works, which is excellent in safety such that a person is not hurt.

Further, according to the robot hand 1, it is possible to attach / detach each

finger portion

20, 30, 40 to / from the palm portion 10 or attach / detach a part of each

finger portion

20, 30, 40. For this reason, the maintainability is good, and it is possible to replace the finger part or a part of the finger part with one having a different shape, size, elasticity, etc. according to the task.

In addition, according to the above-mentioned embodiment, the palm portion 10 is formed in a T-shaped flat plate shape, but other examples of the palm portion 10 include a Y-shaped flat plate shape, a circular flat plate shape, a rectangular flat plate shape, a block shape, and the like. A mode other than the illustrated example is possible.

In addition, according to the above-described embodiment, the number of fingers is three, but as another example, the number of fingers can be two or four or more. Further, the number of nodes of each finger can be a plurality other than the illustrated example.

Further, according to the above-mentioned embodiment, the two magnets M1 and M2 are provided, but as another example, one magnet may be replaced to provide a magnetic body. That is, in this other example, the magnet is fixed to one of the first node S1 and the second node S2, and the magnetic material is fixed to the other of the first node S1 and the second node S2 so as to be attracted to the magnet at the initial position. To do.

Further, in the above-described embodiment, as a particularly preferable example, the magnets M1 and M2 are fixed so as to face the side surfaces of the first node S1 and the second node S2, but as another example, the first node is used. It is also possible to fix the magnets M1 and M2 so as to face the contact surface S1a of the portion S1 and the contacted surface S2a of the second node portion S2, respectively.

Further, in the above-described embodiment, the first joint 22 is indirectly pivotally supported on the palm 10 so that the first joint 22 can be bent and extended. However, as another example, the first joint 22 is directly supported on the palm 10. It is also possible to pivotally support the first knuckle 22 so that it can bend and stretch.
Similarly, in the above-described embodiment, the first joint S1 is indirectly pivotally supported by the palm portion 10 via the base joint S, but as another example, the first joint S1 is directly supported on the palm portion 10. It is also possible to pivotally support the first node S1 so as to be able to bend and stretch.

Further, in the above-described embodiment, the tension spring (coil spring or the like) between the adjacent nodes is unnecessary, but it is possible to provide the tension spring at an appropriate place in order to reduce backlash.

Moreover, the present invention is not limited to the above-described embodiments, and can be appropriately modified without changing the gist of the present invention.

1: Robot hand 10: Palm part 20: First finger part 21: Base node part 22: First node part 23: Second node part 24: Third node part 30: Second finger part 40:

Third finger portion

51, 52, 53, 54, 55: Driving source S: Base joint portion S1: First joint portion S1a: Contact surface S2: Second joint portion S2a: Contact surface S3: First Three nodes R1: First operation link R2: Second operation link R3: Third operation link M1, M2: Magnet W: Work

Claims

In a robot hand comprising a palm portion, three or more finger portions supported by the palm portion, and a drive source for moving the finger portions,
The three or more finger portions include at least a first finger portion and a second finger portion facing a different direction with respect to the first finger portion,
Each of the first finger portion and the second finger portion has two or more degrees of freedom including an abduction and extension movement of an angle of 90 degrees or more and a bending and extension movement in a direction intersecting the abduction and extension movement,
The drive source is provided for each exercise,
A robot hand, wherein at least one of the drive sources is provided with a clutch mechanism that disconnects an output by a load of a predetermined value or more.
The robot hand according to claim 1, wherein the first finger portion has three or more degrees of freedom including one of the abduction and extension movements and two of the bending and extension movements of two or more joints.
At least one of the three or more finger portions is characterized in that the clutch mechanism is provided in the drive source for the inner / outer movement and at least one drive source for the bending / extending movement. The robot hand according to claim 1 or 2.
The palm portion includes three or more supporting portions that project in different directions according to the number of the finger portions, and the supporting portions support the base side of the finger portions. The robot hand according to any one of items 1 to 3.
Of the three or more finger portions, at least one finger portion has a plurality of node portions arranged in the longitudinal direction, and constitutes a familiar gripping mechanism that sequentially bends these node portions from the finger base side. The robot hand according to any one of claims 1 to 4, characterized in that:
The robot hand according to any one of claims 1 to 5, wherein a part or all of each of the finger portions is detachably attached.
7. The at least one finger portion of the three or more finger portions is supported by the palm portion by inclining a portion on the finger base side toward the inner side of the palm. The described robot hand.