WO2021112121A1 - Hand device - Google Patents

Hand device Download PDF

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Publication number
WO2021112121A1
WO2021112121A1 PCT/JP2020/044842 JP2020044842W WO2021112121A1 WO 2021112121 A1 WO2021112121 A1 WO 2021112121A1 JP 2020044842 W JP2020044842 W JP 2020044842W WO 2021112121 A1 WO2021112121 A1 WO 2021112121A1
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WO
WIPO (PCT)
Prior art keywords
finger
hand device
tip
extension
central axis
Prior art date
Application number
PCT/JP2020/044842
Other languages
French (fr)
Japanese (ja)
Inventor
深谷　直樹
Original Assignee
株式会社Ｐｒｅｆｅｒｒｅｄ Ｎｅｔｗｏｒｋｓ
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 株式会社Ｐｒｅｆｅｒｒｅｄ Ｎｅｔｗｏｒｋｓ filed Critical 株式会社Ｐｒｅｆｅｒｒｅｄ Ｎｅｔｗｏｒｋｓ
Publication of WO2021112121A1 publication Critical patent/WO2021112121A1/en

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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
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • 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

Definitions

  • An embodiment of the present invention relates to a hand device.
  • a hand device having a plurality of fingers is known.
  • the hand device has, for example, two fingers driven by an actuator and moving closer to or further from each other.
  • the tip of the finger can be replaced, for example, depending on the object held by the hand device.
  • the structure of the hand device may be complicated.
  • One example of the problem to be solved by the present invention is to provide a hand device having a simple structure that can be used for various purposes.
  • the hand device has a substrate having a mounting portion on which a first finger can be detachably attached, and is connected to the substrate and can move so as to approach the first finger. It is equipped with a second finger.
  • FIG. 1 is a plan view schematically showing a hand device according to the first embodiment.
  • FIG. 2 is a cross-sectional view schematically showing a second finger of the first embodiment.
  • FIG. 3 is a plan view schematically showing an example of a hand device for gripping an object according to the first embodiment.
  • FIG. 4 is a plan view schematically showing another example of the hand device for gripping the object of the first embodiment.
  • FIG. 5 is a side view schematically showing the hand device according to the second embodiment.
  • FIG. 6 is a side view schematically showing the hand device according to the third embodiment.
  • FIG. 7 is a plan view schematically showing the hand device according to the fourth embodiment.
  • FIG. 8 is a plan view schematically showing the hand device according to the fifth embodiment.
  • FIG. 1 is a plan view schematically showing the hand device 10 according to the first embodiment.
  • the hand device 10 of the present embodiment is a so-called robot hand mounted on the robot 1.
  • the hand device 10 may also be referred to as, for example, a gripper.
  • the robot 1 may be, for example, an industrial robot having an arm extending from a support base, or a humanoid robot having a humanoid body.
  • the hand device 10 may be mounted on another device such as a prosthetic hand that can be worn by a human.
  • the robot 1 of this embodiment has a control unit 2 and a hand device 10.
  • the control unit 2 controls the hand device 10.
  • the control unit 2 includes, for example, a processing device such as a Central Processing Unit (CPU), a memory such as a Random Access Memory (RAM) or a Read Only Memory (ROM), and a Hard Disk Drive (HDD) or Solid State Drive.
  • the control unit 2 may have a power source such as a battery. Further, the power supply may be provided outside the robot 1.
  • the control unit 2 does not have to be provided in the hand device 10.
  • the hand device 10 has a drive unit 11, a base 12, a first finger 13, a second finger 14, and a transmission mechanism 15. That is, the hand device 10 of the present embodiment has two fingers, the first and second fingers 13, 14.
  • the hand device 10 is not limited to this example, and may have five fingers like a human hand.
  • the first finger 13 may also be referred to as a fixed finger or a passive finger.
  • the second finger 14 may also be referred to as a movable finger or an active finger.
  • the X-axis, Y-axis and Z-axis are defined in this specification for convenience.
  • the X-axis, Y-axis, and Z-axis are orthogonal to each other.
  • the X-axis is provided along the width of the hand device 10.
  • the Y-axis is provided along the length of the hand device 10.
  • the Z-axis is provided along the thickness of the hand device 10.
  • the X direction is a direction along the X axis and includes the + X direction indicated by the arrow on the X axis and the ⁇ X direction which is the opposite direction of the arrow on the X axis.
  • the Y direction is a direction along the Y axis and includes the + Y direction indicated by the arrow on the Y axis and the ⁇ Y direction which is the opposite direction of the arrow on the Y axis.
  • the Z direction is a direction along the Z axis and includes the + Z direction indicated by the arrow on the Z axis and the ⁇ Z direction which is the opposite direction of the arrow on the Z axis.
  • the drive unit 11 of the present embodiment includes an actuator 21 and a drive component 22.
  • the actuator 21 is, for example, a servomotor.
  • the actuator 21 is not limited to this example, and may be another actuator such as a solenoid, a power cylinder, and a linear actuator.
  • the actuator 21 of the present embodiment has a drive shaft 21a.
  • the actuator 21 can rotationally drive the drive shaft 21a around the central axis Axd of the drive shaft 21a.
  • the drive component 22 of the present embodiment is formed in a disk shape substantially orthogonal to the central axis Axd.
  • the drive component 22 is not limited to this example, and may be formed in another shape.
  • the drive component 22 is attached to the drive shaft 21a of the actuator 21.
  • the drive component 22 may be rotatably supported by another component. In this case, for example, the drive shaft 21a of the actuator 21 rotates the drive component 22 via various transmission mechanisms.
  • the actuator 21 can selectively rotate and drive the drive shaft 21a and the drive component 22 in the first direction D1 and the second direction D2.
  • the drive component 22 can move in the first direction D1 and the second direction D2.
  • the first direction D1 is one direction that rotates around the central axis Axd.
  • the second direction D2 is the opposite direction of the first direction D1 and is another direction that rotates around the central axis Axd.
  • the first direction D1 is the counterclockwise direction
  • the second direction D2 is the clockwise direction.
  • the actuator 21 of this embodiment is electrically connected to the control unit 2.
  • the control unit 2 has a driver that controls the actuator 21. For example, when the control unit 2 applies a voltage to the terminal of the actuator 21, the actuator 21 rotationally drives the drive shaft 21a in the first direction D1 or the second direction according to the voltage.
  • the substrate 12 has, for example, a housing 31, a mounting portion 32, and a connecting portion 33.
  • the housing 31 is formed in a substantially box shape.
  • the actuator 21 is attached to the housing 31, and the drive shaft 21a and the drive component 22 are arranged inside the housing 31.
  • the mounting portion 32 is provided at the end portion 31a of the housing 31 in the + Y direction.
  • An insertion hole 35 is provided in the end surface 32a of the mounting portion 32 in the + Y direction.
  • the insertion hole 35 is, for example, a substantially quadrangular hole.
  • the mounting portion 32 is not limited to this example.
  • the connecting portion 33 is provided at the end portion 31a of the housing 31 in the + Y direction. That is, the mounting portion 32 and the connecting portion 33 are provided at the common end portion 31a of the housing 31. The mounting portion 32 and the connecting portion 33 may be provided at different portions of the housing 31.
  • the connecting portion 33 is separated from the mounting portion 32 in the + X direction.
  • An insertion port 31b is provided in the housing 31 between the mounting portion 32 and the connecting portion 33.
  • the insertion port 31b opens at the end 31a of the housing 31 in the + Y direction, and communicates the inside and the outside of the housing 31.
  • the first finger 13 is removably attached to the attachment portion 32.
  • the first finger 13 of the present embodiment has an insertion portion 36.
  • the insertion portion 36 has a shape corresponding to the insertion hole 35 of the mounting portion 32.
  • the insertion portion 36 is formed in a substantially rectangular parallelepiped shape.
  • the first finger 13 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32.
  • the insertion portion 36 can be pulled out from the insertion hole 35 of the mounting portion 32.
  • the mounting portion 32 contacts the insertion portion 36 of the first finger 13 on the inner surface of the insertion hole 35, thereby restricting the movement of the first finger 13 in a direction different from the removing direction.
  • the inner surface of the insertion hole 35 of the mounting portion 32 supports the insertion portion 36 so as to limit the movement of the first finger 13 in the X or Y direction.
  • the first finger 13 may be detachably attached to the attachment portion 32 by a method different from the above-mentioned method.
  • the first finger 13 can be detachably attached to the attachment portion 32 by various means such as chucks, hooks, and screws.
  • the second finger 14 is connected to the connecting portion 33.
  • the second finger 14 is permanently connected to the connecting portion 33.
  • the second finger 14 may be removable from the connecting portion 33.
  • the first finger 13 can be removed from the substrate 12 more easily than the second finger 14.
  • the screw is removed or disassembled from the second finger 14.
  • FIG. 2 is a cross-sectional view schematically showing the second finger 14 of the first embodiment.
  • the second finger 14 of the present embodiment has a first portion 41, a second portion 42, a third portion 43, a rotating plate 44, a first rod 45, and a second portion. It has a rod 46.
  • the second portion 42 is an example of the tip portion of the second finger.
  • the first portion 41 forms a portion corresponding to the proximal phalanx of a human finger.
  • the second portion 42 forms a portion corresponding to the distal phalanx of the human finger.
  • the third portion 43 forms a portion corresponding to the intermediate phalanx of the human finger. That is, the first portion 41 is the portion of the second finger 14 that is closest to the substrate 12. Also, the second portion 42 is at the tip of the second finger 14, and the third portion 43 is between the first portion 41 and the second portion 42.
  • the first portion 41, the second portion 42, and the third portion 43 have base end portions 41a, 42a, 43a and tip portions 41b, 42b, 43b, respectively.
  • the base end portions 41a, 42a, 43a are the ends of the first portion 41, the second portion 42, and the third portion 43 close to the substrate 12.
  • the tip portions 41b, 42b, 43b are the ends of the first portion 41, the second portion 42, and the third portion 43 far from the substrate 12.
  • a connecting shaft 51 extending in the Z direction is provided at the base end portion 43a of the third portion 43.
  • the tip portion 41b of the first portion 41 is rotatably connected to the connecting shaft 51 around the central axis Axb1 of the connecting shaft 51. That is, the connecting shaft 51 is a joint between the first portion 41 and the third portion 43.
  • a connecting shaft 52 extending in the Z direction is provided at the base end portion 42a of the second portion 42.
  • the tip portion 43b of the third portion 43 is rotatably connected to the connecting shaft 52 around the central axis Axb2 of the connecting shaft 52. That is, the connecting shaft 52 is a joint between the second portion 42 and the third portion 43.
  • the second portion 42 is rotatably connected to the first portion 41 around the central axis Axb1 via a connecting shaft 52, a third portion 43, and a connecting shaft 51.
  • connection shaft 53 extending in the Z direction is provided at the base end portion 41a of the first portion 41.
  • the rotating plate 44 is rotatably attached to the connecting shaft 53 around the central axis Axb3 of the connecting shaft 53.
  • the first arm portion 44b is provided with a connecting shaft 54 extending in the Z direction.
  • the rotating plate 44 has a central portion 44a, a first arm portion 44b, and a second arm portion 44c.
  • the central portion 44a is rotatably attached to the connecting shaft 53 around the central shaft Axb3.
  • the first arm portion 44b and the second arm portion 44c extend from the central portion 44a in a direction substantially orthogonal to the central axis Axb3.
  • the first arm 44b extends toward the instep of the second finger 14, and the second arm 44c extends toward the belly of the second finger 14.
  • the connecting portion 33 of the base 12 of FIG. 1 is rotatably attached to the connecting shaft 53 around the central axis Axb3 of the connecting shaft 53. That is, the connecting shaft 53 is a joint between the first portion 41 and the substrate 12. The first portion 41 and the rotating plate 44 are rotatably connected to the connecting portion 33 via the connecting shaft 53.
  • a connecting shaft 55 extending in the Z direction is provided at the base end portion 43a of the third portion 43.
  • the connecting shaft 55 is closer to the pad of the second finger 14 than the connecting shaft 51.
  • the first rod 45 is rotatably connected to the second arm portion 44c of the rotating plate 44 and the connecting shaft 55.
  • a connecting shaft 56 extending in the Z direction is provided at the tip end portion 41b of the first portion 41.
  • the connecting shaft 56 is located between the connecting shaft 51 and the connecting shaft 53.
  • a connecting shaft 57 is provided at the base end portion 42a of the second portion 42. In this embodiment, the connecting shaft 57 is closer to the instep of the second finger 14 than the connecting shaft 52.
  • the second rod 46 is rotatably connected to the connecting shaft 56 and the connecting shaft 57.
  • the connecting shafts 51 to 57 extend substantially parallel to each other. Therefore, the first portion 41, the second portion 42, the third portion 43, the rotating plate 44, the first rod 45, and the second rod 46 can rotate on a common virtual plane.
  • the second finger 14 of the present embodiment is provided with an elastic body 58 that urges the first portion 41 in the direction opposite to the rotation direction Dp1. Further, as shown in FIG. 2, the second finger 14 is provided with an elastic body 59 that urges the second portion 42 and the third portion 43 in the opposite directions of the rotation directions Dp2 and Dp3.
  • the elastic bodies 58 and 59 are, for example, coil springs.
  • the elastic body 58 rotates the first portion 41 in the direction opposite to the rotation direction Dp1.
  • the elastic body 58 rotates the second portion 42 and the third portion 43 in the directions opposite to the rotation directions Dp2 and Dp3.
  • the elastic bodies 58 and 59 extend the second finger 14. Further, the elastic body 58 can rotate the second finger 14 around the central axis Axb3 so as to move away from the first finger 13.
  • the elastic bodies 58 and 59 may be other elastic bodies capable of extending the second finger 14.
  • the elastic bodies 58 and 59 may be push springs, winding springs, or springs of other shapes, or may be elastic bodies such as rubber.
  • the elastic bodies 58 and 59 may be omitted.
  • the elastic body 58 or the elastic body 59 that does not contribute to the extension can be omitted.
  • the elastic body 59 connects the second portion 42 and the first portion 41 to give an elastic force in advance.
  • the rotation of the second finger 14 in the rotation direction Dp1 can occur before the rotation of the third portion 43 in the rotation direction Dp2 and the rotation of the second portion 42 in the rotation direction Dp3.
  • the second finger 14 rotating in the rotation direction Dp1 abuts on another object or rotates to a predetermined angle and a force exceeding the elastic force of the elastic body 59 is applied, the third portion 43 and the second Part 42 rotates.
  • FIG. 3 is a plan view schematically showing an example of a hand device 10 for gripping the object O of the first embodiment.
  • the second portion 42 and the third portion 43 rotate when the first portion 41 abuts on the object O.
  • the second portion 42 rotates when the third portion 43 comes into contact with the object O.
  • the second finger 14 adapts (adapts) to the shape of the object O that abuts on the second finger 14, and bends at at least one of the plurality of joints (connecting shafts 51 to 54). Can be done.
  • the first contact is first made at the portion of the second finger 14 near the base 12, and the second contact is made at the portion of the second finger 14 near the tip of the second finger 14, so that the object O is further contacted. It becomes possible to adapt to the shape of an object without applying a load. That is, at a plurality of points of contact between the second finger 14 and the object O, the forces acting on the object O from the second finger 14 are close to each other or averaged.
  • the second finger 14 approaches the first finger 13 by bending as described above. In other words, the second finger 14 can move closer to the first finger 13.
  • the first portion 41 is rotatable so as to approach the first finger 13.
  • the second portion 42 is rotatable closer to the first finger 13.
  • the second finger 14 can also move away from the first finger 13, and the first portion 41 and the second portion 42 can also rotate away from the first finger 13. ..
  • the attachment portion 32 of the base 12 and the first portion 41 of the second finger 14 are arranged in the X direction with an interval.
  • the X direction is a direction orthogonal to the central axes Axb1 to Axb4. Therefore, the first portion 41, the second portion 42, and the third portion 43 can be rotated so as to approach the mounting portion 32.
  • the second finger 14 is not limited to the above configuration.
  • the second finger 14 may be able to bend by pulling a wire stretched inside the second finger 14 and extend by pushing the wire.
  • the second finger 14 may be simply rotatable around the connecting portion (connecting shaft 54) with the connecting portion 33, or may be translated in the substantially X direction.
  • the transmission mechanism 15 transmits a force between the actuator 21 and the second finger 14.
  • the transmission mechanism 15 transmits a force between the drive component 22 driven by the actuator 21 and the second arm portion 44c of the rotating plate 44, so that the second finger 14 bends. Or it can be extended.
  • the transmission mechanism 15 may include a single member, multiple links, chains, joints, or various other components. In this embodiment, the transmission mechanism 15 has a plurality of links coupled to each other.
  • FIG. 1 schematically shows the transmission mechanism 15 by a chain double-dashed line.
  • the transmission mechanism 15 may have only one component.
  • One end of the transmission mechanism 15 is connected to the drive component 22 inside the housing 31.
  • the other end of the transmission mechanism 15 is connected to the second arm 44c of the rotating plate 44 outside the housing 31.
  • the transmission mechanism 15 passes through the insertion port 31b of the housing 31 and extends to the inside and the outside of the housing 31.
  • the transmission mechanism 15 including a plurality of links can be bent by bringing both ends closer to each other.
  • the transmission mechanism 15 may be a rigid body. Further, the transmission mechanism 15 may have a mechanical component that includes a rigid body and can be contracted, such as a cylinder.
  • the actuator 21 rotates the drive component 22 in the first direction D1, so that the drive component 22 pulls the transmission mechanism 15.
  • the actuator 21 pulls the second arm portion 44c of the rotating plate 44 of the second finger 14 via the driving component 22 and the transmission mechanism 15.
  • the transmission mechanism 15 transmits a tensile force between the drive component 22 and the second arm portion 44c of the rotating plate 44.
  • the second finger 14 bends. That is, the actuator 21 drives and bends the movable second finger 14.
  • the second finger 14 can bend (adapt) to the shape of the object O. That is, the second finger 14 bends at least one of the plurality of joints according to the movement of the driving component 22 in accordance with the shape of the object O in contact with the second finger 14. Therefore, the contact portion between the second finger 14 and the object O increases, and the plurality of second fingers 14 can stably grip (grasp, grip) the object O.
  • the drive component 22 drives the drive component 22 in the second direction D2
  • the drive component 22 brings the transmission mechanism 15 closer to the second finger 14.
  • the tensile force acting on the second finger 14 is released, and the second finger 14 is extended by, for example, the restoring force of at least one of the elastic bodies 58 and 59.
  • the first finger 13 of the first embodiment has a base end portion 61, an extension portion 62, and an elastic body 63.
  • the base end portion 61 includes an insertion portion 36 of the first finger 13. That is, the base end portion 61 is removably attached to the attachment portion 32.
  • the extending portion 62 extends from the base end portion 61 in the substantially + Y direction.
  • the second finger 14 can be extended substantially parallel to the extension 62 by bending or extension.
  • the extension portion 62 has a first extension portion 62a and a second extension portion 62b.
  • the first extension portion 62a is connected to the base end portion 61 and extends from the base end portion 61 in the + Y direction.
  • the second extension 62b is connected to the tip of the first extension 62a and extends from the first extension 62a.
  • the second extension 62b is rotatably connected to the first extension 62a around the central axis Axbf extending in the Z direction.
  • the second extension 62b is rotatably connected to the first extension 62a around the central axis Axbf so as to approach or move away from the second finger 14.
  • the extension portion 62 further has a stopper 62c.
  • the stopper 62c restricts the second extension 62b from moving away from the first finger 13 by a predetermined amount by coming into contact with the second extension 62b.
  • the first finger 13 is extended when the stopper 62c is in contact with the second extension 62b.
  • the elastic body 63 is, for example, a coil spring.
  • FIG. 1 schematically shows the elastic body 63 by a chain double-dashed line. One end of the elastic body 63 is attached to the first extension 62a. The other end of the elastic body 63 is attached to the second extension 62b.
  • the elastic body 63 pulls the second extension 62b around the central axis Axbf so that the extension 62 extends. Therefore, in the free state in which no external force acts, the second extension portion 62b extends so as to extend in the substantially + Y direction from the first extension portion 62a.
  • the second extension 62b rotates around the central axis Axbf by an external force or a tensile force of the elastic body 63.
  • the first finger 13 is capable of moving.
  • the first finger 13 does not transmit force to and from the actuator 21. That is, the first finger 13 can move independently of the drive of the actuator 21.
  • the first finger 13 further has a tip 65.
  • the tip portion 65 is located on the opposite side of the base end portion 61 on the first finger 13 and is separated from the base 12.
  • the tip of the second extension 62b forms the tip 65 of the first finger 13.
  • the second portion 42 forms the tip of the second finger 14.
  • the second portion 42 has a ventral surface 42c.
  • the ventral surface 42c is located at the second portion 42, which is the tip of the second finger 14.
  • the ventral surface 42c is an example of the second surface.
  • the ventral surface 42c of the second portion 42 can face the tip portion 65 of the first finger 13, for example, with the second finger 14 extended. Further, the second finger 14 can be bent (moved) so that the ventral surface 42c of the second portion 42 comes into contact with the tip portion 65 of the first finger 13.
  • the first finger 13 is not limited by the shape, structure, and function described above.
  • the first finger 13 may have a structure in which the extension portion 62 is formed as a single member, and the first extension portion 62a and the second extension portion 62b do not rotate around the central axis Axbf. .. In other words, the first finger 13 does not have to have a joint. This can simplify the first finger 13.
  • the first finger 13 can be easily given a function other than sandwiching the object O facing the second finger 14.
  • the first finger 13 can be given a function of piercing and gripping an object by forming a part of the tip portion 65 in the shape of a needle.
  • the first finger 13 can be provided with a magnetic force device, a suction cup, and an adhesive on a part of the tip portion 65, and the target object O can be sucked and gripped without the second finger 14 acting.
  • the tip portion 65 can adsorb the target object O, which is an example of the adsorbing portion.
  • FIG. 4 is a plan view schematically showing another example of the hand device 10 for gripping the object O of the first embodiment.
  • the hand device 10 of the present embodiment can easily grip the object O on the target surface F.
  • the target surface F is, for example, a floor surface, a top surface of a desk, or a wall surface. That is, in the example of FIG. 4, the hand device 10 grips the object O placed on the object surface F, which is the floor surface or the top surface of the desk, or is attached to the object surface F, which is the wall surface. Grasp the object O.
  • the second extension portion 62b of the first finger 13 is pressed against the target surface F in a state where the second finger 14 is separated from the first finger 13.
  • the second extension 62b bends (adaptively) along the target surface F by rotating around the central axis Axbf.
  • the first finger 13 can scoop up the object O.
  • the actuator 21 drives the second finger 14 in a state where the first finger 13 is in contact with the object O.
  • the driven second finger 14 bends to fit the shape of the object O while pressing the object O against the first finger 13.
  • the hand device 10 grips the object O with the first finger 13 and the second finger 14.
  • the object O has the first finger 13 and the second finger 14 in the X direction. It can be biased from the center between. Therefore, it becomes easy to set the position of the hand device 10 with respect to the object O. Depending on the position of the hand device 10 with respect to the object O, the hand device 10 grips the object O in various ways.
  • the first finger 13 and the second finger 14 are gripped so as to wrap the object O.
  • the hand device 10 can also pinch the object O with the tip portion 65 of the first finger 13 and the second portion 42 of the second finger 14.
  • the second finger 14 stably exerts a force on the object O when the second portion 42 is in contact with the object O and the first portion 41 and the third portion 43 are separated from the object O. Let me. Therefore, the hand device 10 can stably hold the object O like tongs by picking the object O with the first finger 13 and the second finger 14.
  • the first finger 13 is detachably attached to the attachment portion 32 of the base 12.
  • the second finger 14 is connected to the substrate 12 and can move closer to the first finger 13. That is, the first finger 13 can be replaced depending on the application.
  • the second finger 14, which may be provided with a complex mechanism for movement, is permanently connected to the substrate 12.
  • the structure of the hand device 10 that can be used for various purposes can be simplified, and the cost of the hand device 10 can be reduced.
  • the first finger 13 does not move substantially, the positioning of the object O gripped by the hand device 10 and the first finger 13 becomes easy, and the control of the hand device 10 becomes easy.
  • the shape of the first finger 13 can be set to various shapes depending on the use of the hand device 10.
  • the second finger 14 has a first portion 41 and a second portion 42.
  • the first portion 41 is rotatably connected to the substrate 12 so as to approach the first finger 13.
  • the second portion 42 is rotatably connected to the first portion 41 so as to approach the first finger 13.
  • the second finger 14 is a plurality of joints (a connecting shaft 54 which is a connecting portion between the first portion 41 and the base 12 and a connecting portion between the second portion 42 and the first portion 41). It is possible to bend (bend) at the connecting shaft 51). Therefore, the second finger 14 can be bent according to the shape of the object O gripped by the hand device 10, for example, and can grip the object O more stably.
  • the second portion 42 can face the tip portion 65 of the first finger 13. As a result, the object O can be pinched by the tip portion 65 of the first finger 13 and the second portion 42 of the second finger 14.
  • the mounting portion 32 and the first portion 41 are arranged in a direction orthogonal to the central axis Axb4 of the rotation of the first portion 41.
  • the second finger 14 can be bent so as to come into contact with the first finger 13, and the first finger 13 and the second finger 14 can grip the object O more stably.
  • the second finger 14 has connecting shafts 51, 52, 53 which are a plurality of joints.
  • the second finger 14 adapts to the shape of the object O in contact with the second finger 14 and bends at at least one of the plurality of joints. As a result, the second finger 14 bends so as to wrap around the object O, and the first finger 13 and the second finger 14 can grip the object O more stably.
  • the actuator 21 drives the second finger 14.
  • the first finger 13 can move independently of the drive of the actuator 21. As a result, even when the first finger 13 moves, the structure of the hand device 10 is prevented from becoming complicated.
  • FIG. 5 is a side view schematically showing the hand device 10 according to the second embodiment.
  • the first finger 100 which is different from the first finger 13 of the first embodiment, is removably attached to the substrate 12.
  • the first finger 100 of the second embodiment has an insertion portion 36 like the first finger 13 of the first embodiment.
  • the first finger 100 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32.
  • the first finger 100 may be detachably attached to the attachment portion 32 by another method.
  • the first finger 100 of the second embodiment has a base end portion 101 and a plurality of extending portions 102.
  • the base end portion 101 includes an insertion portion 36 of the first finger 100. That is, the base end portion 101 is removably attached to the attachment portion 32.
  • the plurality of extension portions 102 extend from the base end portion 101 in the substantially + Y direction. In other words, the plurality of extension portions 102 extend substantially parallel to each other. The plurality of extending portions 102 may extend in different directions from each other. The second finger 14 can be extended substantially parallel to the plurality of extension 102 by bending or extension.
  • the first finger 100 has two extension 102.
  • the two extension 102s are separated from each other in the Z direction.
  • the second finger 14 is located between the two extension 102.
  • the first finger 100 is not limited to this example.
  • the extension 102 has a first extension 102a and a second extension 102b.
  • the first extending portion 102a is connected to the proximal end portion 101 and extends from the proximal end portion 101 in the + Y direction.
  • the second extension 102b is connected to the tip of the first extension 102a and extends from the first extension 102a.
  • the second extension 102b is rotatably connected to the first extension 102a around the central axis Axbf extending in the Z direction.
  • the second extension 102b is rotatably connected to the first extension 102a around the central axis Axbf so as to approach or move away from the second finger 14.
  • the second extension 102b is rotated around the central axis Axbf by, for example, an external force.
  • the first finger 100 is capable of moving.
  • the first finger 100 does not transmit force to and from the actuator 21. That is, the first finger 100 can move independently of the drive of the actuator 21.
  • the first finger 100 and the second finger 14 of the second embodiment can grip the object O in the same manner as the first finger 13 and the second finger 14 of the first embodiment.
  • the first finger 100 and the second finger 14 of the second embodiment can stably grip the object O which is longer in the Z direction than the first embodiment.
  • the first finger 100 may have, for example, a structure in which the extension portion 102 is formed as a single member, and the first extension portion 102a and the second extension portion 102b do not rotate around the central axis Axbf. .. In other words, the first finger 100 does not have to have a joint. This can simplify the first finger 100. Further, the plurality of first fingers 100 may function like a fork, for example, and may point to and grip the object O.
  • the first finger 100 has a base end portion 101 attached to the attachment portion 32 and a plurality of extension portions 102 extending from the base end portion 101. ..
  • the hand device 10 can substantially increase the number of fingers.
  • the first finger 13 of the first embodiment in which the number of the total portions 62 is one is attached to the attachment portion 32
  • the number of fingers of the hand device 10 is two.
  • the first finger 100 of the second embodiment, which has two total portions 102 is attached to the attachment portion 32
  • the number of fingers of the hand device 10 becomes three.
  • a first finger 100 having a number of extension 102 corresponding to the object O is attached to the attachment portion 32.
  • the hand device 10 can stably grip the object O.
  • FIG. 6 is a side view schematically showing the hand device 10 according to the third embodiment.
  • the first finger 200 which is different from the first finger 13 of the first embodiment, is detachably attached to the base 12.
  • the first finger 200 of the third embodiment has an insertion portion 36 like the first finger 13 of the first embodiment.
  • the first finger 200 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32.
  • the first finger 200 may be detachably attached to the attachment portion 32 by another method.
  • the first finger 200 of the third embodiment has a base end portion 201 and a spatula portion 202.
  • the proximal end 201 includes the insertion portion 36 of the first finger 200. That is, the base end portion 201 is removably attached to the attachment portion 32.
  • the spatula portion 202 extends from the base end portion 201 in the substantially + Y direction.
  • the second finger 14 can be extended substantially parallel to the spatula 202 by bending or extension.
  • the spatula portion 202 is formed in a plate shape that becomes thinner as the distance from the base end portion 201 increases.
  • the spatula portion 202 has a spatula surface 202a.
  • the spatula surface 202a is an example of the first surface.
  • the surface 202a on the opposite side (back surface) of the surface 202a is wider than the other surface formed by the portion 202.
  • the spatula surface 202a is located at the tip of the first finger 200.
  • the spatula surface 202a is located on the opposite side of the base end portion 201 at the first finger 200 and is separated from the substrate 12.
  • the spatula surface 202a can face the ventral surface 42c of the second portion 42 of the second finger 14, for example, with the second finger 14 extended.
  • the ventral surface 42c of the second portion 42 can also face the spatula surface 202a, for example, with the second finger 14 extended.
  • the spatula surface 202a is wider than the abdominal surface 42c.
  • the length of the spatula surface 202a in the Z direction is longer than the length of the ventral surface 42c in the Z direction.
  • the length of the spatula surface 202a in the Y direction is longer than the length of the ventral surface 42c in the Y direction.
  • the spatula 202 is thinner than the second part 42. Therefore, the spatula portion 202 can easily enter the gap between the object O and the target surface F. Further, since the spatula surface 202a is wide, the spatula surface 202a can stably support, for example, a flat object O.
  • the above first finger 200 is formed as a single member and has no joint. This can simplify the first finger 200.
  • the first finger 200 may have at least one joint and may be able to bend at the joint.
  • the driven second finger 14 bends according to the shape of the object O placed on the spatula surface 202a.
  • the hand device 10 holds the object O between the first finger 200 and the second finger 14.
  • the hand device 10 can hold the flat object O placed on the spatula surface 202a and turn it over.
  • the first finger 200 has a spatula surface 202a located at the tip of the first finger 200 and facing the second finger 14.
  • the second finger 14 has a ventral surface 42c that is located at the second portion 42 that is the tip end portion of the second finger 14 and that can face the spatula surface 202a.
  • the spatula surface 202a is wider than the abdominal surface 42c.
  • the first finger 200 has no joints.
  • the second finger 14 has a plurality of joints (connecting shafts 51 to 54) and can bend at the plurality of joints. This simplifies the first finger 200 and allows the second finger 14 to bend to hold the object O.
  • the width of the second portion 42 may be the same as the width of the spatula surface 202a, or may be wider than the width of the spatula surface 202a.
  • the widths of the first portion 41 and the third portion 43 may be the same width as the spatula surface 202a, or may be wider than the spatula surface 202a.
  • FIG. 7 is a plan view schematically showing the hand device 10 according to the fourth embodiment.
  • the first finger 300 which is different from the first finger 13 of the first embodiment, is detachably attached to the base 12.
  • the first finger 300 of the fourth embodiment has an insertion portion 36 like the first finger 13 of the first embodiment.
  • the first finger 300 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32.
  • the first finger 300 may be detachably attached to the attachment portion 32 by another method.
  • the first finger 300 of the fourth embodiment has a base end portion 301, a support portion 302, a first rotating shaft 303, a first rotating disk 304, and a rotating device 305.
  • the first finger 300 has no joints. However, the first finger 300 may have at least one joint and be capable of bending at that joint.
  • the base end portion 301 includes an insertion portion 36 of the first finger 300. That is, the base end portion 301 is removably attached to the attachment portion 32.
  • the support portion 302 extends from the base end portion 301 in the substantially + Y direction.
  • the second finger 14 can extend substantially parallel to the support portion 302 by bending or extending.
  • the support portion 302 forms the tip portion 307 of the first finger 300.
  • the tip portion 307 is located on the opposite side of the base end portion 301 on the first finger 300 and is separated from the base 12.
  • the first rotation shaft 303 is supported by the support portion 302 at the tip portion 307.
  • the first rotation shaft 303 is rotatable around the central axis Axr1 of the first rotation shaft 303.
  • the central axis Axr1 is an example of the first rotation center.
  • the central axis Axr1 extends in the substantially X direction, for example.
  • the central axis Axr1 may extend in another direction.
  • the first rotating disk 304 is attached to the first rotating shaft 303.
  • the first turntable 304 is located between the support portion 302 and the second finger 14 in the X direction.
  • the first turntable 304 may be in another position.
  • the first turntable 304 is formed in a plate shape substantially orthogonal to the central axis Axr1.
  • the first turntable 304 can rotate around the central axis Axr1 integrally with the first turnover shaft 303.
  • the first rotating disk 304 has a first rotating surface 304a that is substantially orthogonal to the central axis Axr1.
  • the first rotating surface 304a is an example of the first surface.
  • the first rotating surface 304a is located at the tip portion 307 of the first finger 300.
  • the first rotating surface 304a can face the ventral surface 42c of the second portion 42 of the second finger 14, for example, with the second finger 14 extended.
  • the rotating device 305 of the present embodiment includes, for example, a motor 305a, a first cam 305b, a rod 305c, and a second cam 305d.
  • the rotating device 305 may have other parts such as a belt.
  • the first cam 305b, the rod 305c, and the second cam 305d may be omitted, and the motor 305a arranged in the vicinity of the tip portion 307 may rotate the first rotation shaft 303.
  • the first cam 305b is connected to the drive shaft of the motor 305a.
  • the second cam 305d is connected to the first rotation shaft 303.
  • One end of the rod 305c is eccentric from the drive shaft of the motor 305a and is connected to the first cam 305b. Further, the other end of the rod 305c is eccentric from the first rotating shaft 303 and connected to the second cam 305d.
  • the motor 305a is electrically connected to, for example, the control unit 2 in FIG.
  • the control unit 2 applies a voltage to the terminal of the motor 305a
  • the motor 305a rotates and drives the first cam 305b according to the voltage.
  • the rotational force of the first cam 305b is transmitted to the first rotating shaft 303 through the rod 305c and the second cam 305d.
  • the rotating device 305 rotates the first rotating disk 304 and the first rotating surface 304a around the central axis Axr1.
  • the second portion 42 of the second finger 14 additionally has a second rotating shaft 311 and a second rotating disk 312.
  • the second rotating shaft 311 and the second rotating disk 312 may be attached to the second portion 42 of the first embodiment, or the second portion 42 of the first embodiment is the fourth. It may be replaced with the second part 42 of the embodiment.
  • the second rotation shaft 311 protrudes from the ventral surface 42c of the second portion 42.
  • the second rotating shaft 311 is rotatable around the central axis Axr2 of the second rotating shaft 311.
  • the central axis Axr2 is an example of a second rotation center.
  • the direction in which the central axis Axr2 extends changes when the second finger 14 bends or extends.
  • the central axis Axr2 extends in the substantially X direction. That is, the central axis Axr2 can be positioned parallel to the central axis Axr1. Further, the central axis Axr2 can be located concentrically with the central axis Axr1. The central axis Axr2 may extend in another direction.
  • the second turntable 312 is attached to the second turn shaft 311.
  • the second turntable 312 is located between the ventral surface 42c and the first turntable 304 in the X direction, for example, with the second finger 14 extended.
  • the second turntable 312 may be in another position.
  • the second turntable 312 is formed in a plate shape substantially orthogonal to the central axis Axr2.
  • the second rotating shaft 311 and the second rotating disk 312 are not connected to a drive source such as a motor. Therefore, the second rotating shaft 311 and the second rotating disk 312 are easily provided in the second portion 42.
  • the second rotating disk 312 has a second rotating surface 312a that is substantially orthogonal to the central axis Axr2. Therefore, the second rotating surface 312a is located at the second portion 42, which is the tip end portion of the second finger 14.
  • the second rotating surface 312a is an example of the second surface.
  • the second rotating surface 312a can face the first rotating surface 304a of the first finger 300, for example, with the second finger 14 extended.
  • the second rotating disk 312 can rotate around the central axis Axr2 integrally with the second rotating shaft 311. Therefore, the second rotating surface 312a of the second rotating disk 312 can also rotate around the central axis Axr2.
  • the hand device 10 can pinch the object O between the first rotating surface 304a of the first finger 300 and the second rotating surface 312a of the second finger 14.
  • the rotating device 305 rotates the first rotating surface 304a of the first rotating disk 304 around the central axis Axr1
  • the object O also rotates around the central axis Axr1.
  • the rotational force is transmitted from the first rotating surface 304a to the second rotating surface 312a via the object O.
  • the second rotating surface 312a of the second rotating disk 312 passively rotates around the central axis Axr2. Since the central axis Axr2 is concentric or parallel to the central axis Axr1, the second rotating surface 312a of the second rotating disk 312 can rotate smoothly.
  • the first finger 300 is located at the tip portion 307 of the first finger 300 and is a first rotating surface that can face the second finger 14. It has a 304a and a rotating device 305 that rotates the first rotating surface 304a around a central axis Axr1 orthogonal to the first rotating surface 304a. As a result, the object O gripped by the first finger 300 and the second finger 14 can be rotated around the central axis Axr1.
  • the second finger 14 has a second rotating surface 312a that is located at the second portion 42 that is the tip end portion of the second finger 14 and that can face the first rotating surface 304a.
  • the second rotating surface 312a is rotatable around a central axis Axr2 that can be located concentrically with the central axis Axr1. As a result, it is possible to prevent the second finger 14 from hindering the rotation of the object O by the rotating device 305 of the first finger 300.
  • the second rotation shaft 311 may protrude from the ventral surface 42c of the second portion 42 so as to be rotatable around the second portion 42 and substantially the Z axis.
  • the ventral surface 42c of the second portion 42 and the first turntable 304 are parallel to each other. It may not face each other.
  • the tip portion 307 also has a structure that can rotate about the Z axis, so that the same effect can be obtained.
  • a magnetic force device for example, a suction cup, or an adhesive may be provided on at least one of the first turntable 304 and the second turntable 312.
  • the first turntable 304 can adsorb the target object O, which is an example of the adsorbing portion.
  • the first finger 300 and the second finger 14 can suck and grip the object O.
  • FIG. 8 is a plan view schematically showing the hand device 10 according to the fifth embodiment.
  • the first finger 400 which is different from the first finger 13 of the first embodiment, is detachably attached to the base 12.
  • the first finger 400 of the fifth embodiment has the insertion portion 36 like the first finger 13 of the first embodiment.
  • the first finger 400 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32.
  • the first finger 400 may be detachably attached to the attachment portion 32 by another method.
  • the first finger 400 of the fifth embodiment has a base end portion 401 and a spoon portion 402.
  • the first finger 400 has no joints. However, the first finger 400 may have at least one joint and be capable of bending at that joint.
  • the proximal end 401 includes the insertion portion 36 of the first finger 400. That is, the base end portion 401 is removably attached to the attachment portion 32.
  • the spoon portion 402 extends from the base end portion 401 in the substantially + Y direction.
  • the second finger 14 can be extended substantially parallel to the spoon portion 402 by bending or extension.
  • the spoon portion 402 is formed in the shape of a spoon.
  • the spoon portion 402 has a substantially flat base surface 402a.
  • the base surface 402a is located at the tip of the first finger 400.
  • the base surface 402a is located on the opposite side of the base end portion 401 on the first finger 400 and is separated from the base surface 12.
  • the base surface 402a can face the ventral surface 42c of the second portion 42 of the second finger 14, for example, with the second finger 14 extended.
  • the ventral surface 42c of the second portion 42 can also face the base surface 402a, for example, with the second finger 14 extended.
  • the spoon portion 402 is provided with a recess 402b recessed from the base surface 402a.
  • the recess 402b can scoop and contain, for example, a liquid or a fluid such as a large number of grains.
  • the ventral surface 42c of the second finger 14 can face the recess 402b.
  • the transmission mechanism 15 has, for example, a rod that is a rigid body. Therefore, the actuator 21 and the drive component 22 not only pull the second arm portion 44c of the rotating plate 44 of the second finger 14 but also push the second arm portion 44c via the transmission mechanism 15. it can.
  • the transmission mechanism 15 may include a plurality of links, chains, joints, or various other components as in other embodiments, provided that the desired operation can be performed.
  • the second finger 14 additionally has a lever 411.
  • the lever 411 When the lever 411 is operated, the position where at least one of the elastic bodies 58 and 59 of FIGS. 2 and 8 exerts a force is changed.
  • the elastic bodies 58 and 59 rotate the first portion 41, the second portion 42, and the third portion 43 in the opposite directions of the rotation directions Dp1, Dp2, and Dp3 to rotate the second finger 14. Extend.
  • the elastic body 59 bends the second finger 14 by rotating the third portion 43 and the second portion 42 in the rotation directions Dp2 and Dp3.
  • Lever 411 is one of the examples.
  • the above-mentioned operation switching may be performed by another component. Further, the above-mentioned operation may be switched by changing the mounting position of the elastic bodies 58, 59 or other members without adding any parts.
  • the hand device 10 of the fifth embodiment can even out the fluid contained in the recess 402b of the spoon portion 402, and adjust the amount of the fluid to the fullest extent.
  • the elastic body 59 bends the second finger 14 so that the tip of the second portion 42 moves between the recess 402b and the insertion portion 36.
  • the second finger 14 approaches the first finger 400, and for example, the ventral surface 42c of the second portion 42 comes into contact with the base surface 402a.
  • the fluid is scooped up in the recess 402b of the spoon portion 402. At this time, the fluid may rise from the base surface 402a of the spoon portion 402.
  • the actuator 21 rotates the drive component 22 in the second direction D2, so that the drive component 22 pushes the transmission mechanism 15.
  • the second finger 14 moves and extends in the direction indicated by the arrow in FIG.
  • the second finger 14 moves in contact with the edge of the recess 402b when extended. As a result, the second finger 14 removes the fluid that has risen from the base surface 402a and smoothes the fluid contained in the recess 402b.
  • the operation of the hand device 10 of the fifth embodiment is not limited to the above-mentioned scraping operation.
  • the hand device 10 can perform various operations.
  • the first finger 400 has a base surface 402a located at the tip of the first finger 400 and facing the second finger 14.
  • a recess 402b recessed from the base surface 402a is provided.
  • the hand devices 10 of a plurality of embodiments in which the shapes and functions of the first fingers 13, 100, 200, 300, and 400 are different from each other have been described above.
  • the hand device 10 only needs to be able to attach the first finger (the first finger 13, 100, 200, 300, 400, or the other first finger described above), and has the first finger. You don't have to.
  • the hand device 10 is mounted on the robot 1 without having the first finger.
  • a plurality of first fingers are held on the shelf.
  • the robot 1 can attach any first finger to the hand device 10 or remove the first finger from the hand device 10 by moving an arm or the like.
  • the hand device 10 does not need to always have the first finger.
  • the hand device 10 without the first finger is also treated as a hand device.

Abstract

A hand device according to one embodiment of the present invention comprises: a base body having an attachment part to which a first finger can be detachably attached; and a second finger that is connected to the base body and that can move so as to approach the first finger.

Description

ハンド装置Hand device
　本発明の実施形態は、ハンド装置に関する。 An embodiment of the present invention relates to a hand device.
　例えばロボットの手として、複数の指を有するハンド装置が知られる。ハンド装置は、例えば、アクチュエータにより駆動され、互いに近付き又は離れるように移動する二つの指を有する。指の先端部は、例えば、ハンド装置が把持する物体に応じて交換することができる。 For example, as a robot hand, a hand device having a plurality of fingers is known. The hand device has, for example, two fingers driven by an actuator and moving closer to or further from each other. The tip of the finger can be replaced, for example, depending on the object held by the hand device.
　一方で、ハンド装置の全ての指が動き、全ての指の先端部が交換可能である場合、ハンド装置の構造が複雑化する虞がある。 On the other hand, if all the fingers of the hand device move and the tips of all the fingers are replaceable, the structure of the hand device may be complicated.
特開平７－３２８８６９号公報Japanese Unexamined Patent Publication No. 7-328869
　本発明が解決する課題の一例は、種々の用途に対応できる簡素な構造のハンド装置を提供することである。 One example of the problem to be solved by the present invention is to provide a hand device having a simple structure that can be used for various purposes.
　本発明の一つの実施形態に係るハンド装置は、第１の指が取り外し可能に取り付けられる取付部、を有する基体と、前記基体に接続され、前記第１の指に近づくように動くことが可能な第２の指と、を備える。 The hand device according to one embodiment of the present invention has a substrate having a mounting portion on which a first finger can be detachably attached, and is connected to the substrate and can move so as to approach the first finger. It is equipped with a second finger.
図１は、第１の実施形態に係るハンド装置を概略的に示す平面図である。FIG. 1 is a plan view schematically showing a hand device according to the first embodiment. 図２は、第１の実施形態の第２の指を概略的に示す断面図である。FIG. 2 is a cross-sectional view schematically showing a second finger of the first embodiment. 図３は、第１の実施形態の物体を把持するハンド装置の一例を概略的に示す平面図である。FIG. 3 is a plan view schematically showing an example of a hand device for gripping an object according to the first embodiment. 図４は、第１の実施形態の物体を把持するハンド装置の他の例を概略的に示す平面図である。FIG. 4 is a plan view schematically showing another example of the hand device for gripping the object of the first embodiment. 図５は、第２の実施形態に係るハンド装置を概略的に示す側面図である。FIG. 5 is a side view schematically showing the hand device according to the second embodiment. 図６は、第３の実施形態に係るハンド装置を概略的に示す側面図である。FIG. 6 is a side view schematically showing the hand device according to the third embodiment. 図７は、第４の実施形態に係るハンド装置を概略的に示す平面図である。FIG. 7 is a plan view schematically showing the hand device according to the fourth embodiment. 図８は、第５の実施形態に係るハンド装置を概略的に示す平面図である。FIG. 8 is a plan view schematically showing the hand device according to the fifth embodiment.
（第１の実施形態）
　以下に、第１の実施形態について、図１乃至図４を参照して説明する。なお、本明細書において、実施形態に係る構成要素及び当該要素の説明が、複数の表現で記載されることがある。構成要素及びその説明は、一例であり、本明細書の表現によって限定されない。構成要素は、本明細書におけるものとは異なる名称で特定され得る。また、構成要素は、本明細書の表現とは異なる表現によって説明され得る。 (First Embodiment)
Hereinafter, the first embodiment will be described with reference to FIGS. 1 to 4. In this specification, the constituent elements according to the embodiment and the description of the elements may be described in a plurality of expressions. The components and their description are examples and are not limited by the representations herein. The components may be identified by names different from those herein. Also, the components may be described by expressions different from those herein.
　図１は、第１の実施形態に係るハンド装置１０を概略的に示す平面図である。本実施形態のハンド装置１０は、ロボット１に搭載される、いわゆるロボットハンドである。ハンド装置１０は、例えば、グリッパとも称され得る。 FIG. 1 is a plan view schematically showing the hand device 10 according to the first embodiment. The hand device 10 of the present embodiment is a so-called robot hand mounted on the robot 1. The hand device 10 may also be referred to as, for example, a gripper.
　ロボット１は、例えば、支持台からアームが延びた産業用ロボットであっても良いし、人型の体を有する人間型ロボットであっても良い。なお、ハンド装置１０は、人間が装着可能な義手のような、他の装置に搭載されても良い。 The robot 1 may be, for example, an industrial robot having an arm extending from a support base, or a humanoid robot having a humanoid body. The hand device 10 may be mounted on another device such as a prosthetic hand that can be worn by a human.
　本実施形態のロボット１は、制御部２と、ハンド装置１０とを有する。制御部２は、ハンド装置１０を制御する。制御部２は、例えば、Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ（ＣＰＵ）のような処理装置と、Ｒａｎｄｏｍ　Ａｃｃｅｓｓ　Ｍｅｍｏｒｙ（ＲＡＭ）やＲｅａｄ　Ｏｎｌｙ　Ｍｅｍｏｒｙ（ＲＯＭ）のようなメモリと、Ｈａｒｄ　Ｄｉｓｋ　Ｄｒｉｖｅ（ＨＤＤ）又はＳｏｌｉｄ　Ｓｔａｔｅ　Ｄｒｉｖｅ（ＳＳＤ）のような補助記憶装置と、を有するコンピュータである。制御部２は、バッテリのような電源を有しても良い。また、電源はロボット１の外部に設けられても良い。なお、制御部２がハンド装置１０に設けられなくても良い。 The robot 1 of this embodiment has a control unit 2 and a hand device 10. The control unit 2 controls the hand device 10. The control unit 2 includes, for example, a processing device such as a Central Processing Unit (CPU), a memory such as a Random Access Memory (RAM) or a Read Only Memory (ROM), and a Hard Disk Drive (HDD) or Solid State Drive. A computer having an auxiliary storage device such as SSD). The control unit 2 may have a power source such as a battery. Further, the power supply may be provided outside the robot 1. The control unit 2 does not have to be provided in the hand device 10.
　ハンド装置１０は、駆動部１１と、基体１２と、第１の指１３と、第２の指１４と、伝達機構１５とを有する。すなわち、本実施形態のハンド装置１０は、第１及び第２の指１３，１４という二本の指を有する。なお、ハンド装置１０は、この例に限られず、人間の手のように五本の指を有しても良い。第１の指１３は、固定指又は受動指とも称され得る。第２の指１４は、可動指又は能動指とも称され得る。 The hand device 10 has a drive unit 11, a base 12, a first finger 13, a second finger 14, and a transmission mechanism 15. That is, the hand device 10 of the present embodiment has two fingers, the first and second fingers 13, 14. The hand device 10 is not limited to this example, and may have five fingers like a human hand. The first finger 13 may also be referred to as a fixed finger or a passive finger. The second finger 14 may also be referred to as a movable finger or an active finger.
　各図面に示されるように、本明細書において、便宜上、Ｘ軸、Ｙ軸及びＺ軸が定義される。Ｘ軸とＹ軸とＺ軸とは、互いに直交する。Ｘ軸は、ハンド装置１０の幅に沿って設けられる。Ｙ軸は、ハンド装置１０の長さに沿って設けられる。Ｚ軸は、ハンド装置１０の厚さに沿って設けられる。 As shown in each drawing, the X-axis, Y-axis and Z-axis are defined in this specification for convenience. The X-axis, Y-axis, and Z-axis are orthogonal to each other. The X-axis is provided along the width of the hand device 10. The Y-axis is provided along the length of the hand device 10. The Z-axis is provided along the thickness of the hand device 10.
　さらに、本明細書において、Ｘ方向、Ｙ方向及びＺ方向が定義される。Ｘ方向は、Ｘ軸に沿う方向であって、Ｘ軸の矢印が示す＋Ｘ方向と、Ｘ軸の矢印の反対方向である－Ｘ方向とを含む。Ｙ方向は、Ｙ軸に沿う方向であって、Ｙ軸の矢印が示す＋Ｙ方向と、Ｙ軸の矢印の反対方向である－Ｙ方向とを含む。Ｚ方向は、Ｚ軸に沿う方向であって、Ｚ軸の矢印が示す＋Ｚ方向と、Ｚ軸の矢印の反対方向である－Ｚ方向とを含む。 Further, in this specification, the X direction, the Y direction and the Z direction are defined. The X direction is a direction along the X axis and includes the + X direction indicated by the arrow on the X axis and the −X direction which is the opposite direction of the arrow on the X axis. The Y direction is a direction along the Y axis and includes the + Y direction indicated by the arrow on the Y axis and the −Y direction which is the opposite direction of the arrow on the Y axis. The Z direction is a direction along the Z axis and includes the + Z direction indicated by the arrow on the Z axis and the −Z direction which is the opposite direction of the arrow on the Z axis.
　本実施形態の駆動部１１は、アクチュエータ２１と、駆動部品２２とを有する。アクチュエータ２１は、例えば、サーボモータである。なお、アクチュエータ２１は、この例に限らず、ソレノイド、動力シリンダ、及びリニアアクチュエータのような、他のアクチュエータであっても良い。本実施形態のアクチュエータ２１は、駆動軸２１ａを有する。アクチュエータ２１は、駆動軸２１ａを、当該駆動軸２１ａの中心軸Ａｘｄまわりに回転駆動させることができる。 The drive unit 11 of the present embodiment includes an actuator 21 and a drive component 22. The actuator 21 is, for example, a servomotor. The actuator 21 is not limited to this example, and may be another actuator such as a solenoid, a power cylinder, and a linear actuator. The actuator 21 of the present embodiment has a drive shaft 21a. The actuator 21 can rotationally drive the drive shaft 21a around the central axis Axd of the drive shaft 21a.
　本実施形態の駆動部品２２は、中心軸Ａｘｄと略直交する円盤状に形成される。なお、駆動部品２２は、この例に限られず、他の形状に形成されても良い。本実施形態において、駆動部品２２は、アクチュエータ２１の駆動軸２１ａに取り付けられる。なお、駆動部品２２は、他の部品に回転可能に支持されても良い。この場合、例えば、アクチュエータ２１の駆動軸２１ａは、種々の伝達機構を介して駆動部品２２を回転させる。 The drive component 22 of the present embodiment is formed in a disk shape substantially orthogonal to the central axis Axd. The drive component 22 is not limited to this example, and may be formed in another shape. In the present embodiment, the drive component 22 is attached to the drive shaft 21a of the actuator 21. The drive component 22 may be rotatably supported by another component. In this case, for example, the drive shaft 21a of the actuator 21 rotates the drive component 22 via various transmission mechanisms.
　アクチュエータ２１は、駆動軸２１ａ及び駆動部品２２を、第１の方向Ｄ１及び第２の方向Ｄ２に選択的に回転駆動させることが可能である。言い換えると、駆動部品２２は、第１の方向Ｄ１と第２の方向Ｄ２とに動くことが可能である。 The actuator 21 can selectively rotate and drive the drive shaft 21a and the drive component 22 in the first direction D1 and the second direction D2. In other words, the drive component 22 can move in the first direction D1 and the second direction D2.
　本実施形態において、第１の方向Ｄ１は、中心軸Ａｘｄまわりに回転する一方向である。第２の方向Ｄ２は、第１の方向Ｄ１の反対方向であり、中心軸Ａｘｄまわりに回転する他方向である。図１の例において、第１の方向Ｄ１は反時計回り方向であり、第２の方向Ｄ２は時計回り方向である。 In the present embodiment, the first direction D1 is one direction that rotates around the central axis Axd. The second direction D2 is the opposite direction of the first direction D1 and is another direction that rotates around the central axis Axd. In the example of FIG. 1, the first direction D1 is the counterclockwise direction, and the second direction D2 is the clockwise direction.
　本実施形態のアクチュエータ２１は、制御部２に電気的に接続される。制御部２は、アクチュエータ２１を制御するドライバを有する。例えば、制御部２がアクチュエータ２１の端子に電圧を印加することで、当該電圧に応じて、アクチュエータ２１が駆動軸２１ａを第１の方向Ｄ１又は第２の方向に回転駆動させる。 The actuator 21 of this embodiment is electrically connected to the control unit 2. The control unit 2 has a driver that controls the actuator 21. For example, when the control unit 2 applies a voltage to the terminal of the actuator 21, the actuator 21 rotationally drives the drive shaft 21a in the first direction D1 or the second direction according to the voltage.
　本実施形態において、基体１２は、例えば、筐体３１と、取付部３２と、接続部３３とを有する。筐体３１は、略箱状に形成される。筐体３１にアクチュエータ２１が取り付けられるとともに、筐体３１の内部に駆動軸２１ａ及び駆動部品２２が配置される。 In the present embodiment, the substrate 12 has, for example, a housing 31, a mounting portion 32, and a connecting portion 33. The housing 31 is formed in a substantially box shape. The actuator 21 is attached to the housing 31, and the drive shaft 21a and the drive component 22 are arranged inside the housing 31.
　取付部３２は、＋Ｙ方向における筐体３１の端部３１ａに設けられる。＋Ｙ方向における取付部３２の端面３２ａに、挿入孔３５が設けられる。挿入孔３５は、例えば、略四角形の孔である。なお、取付部３２はこの例に限られない。 The mounting portion 32 is provided at the end portion 31a of the housing 31 in the + Y direction. An insertion hole 35 is provided in the end surface 32a of the mounting portion 32 in the + Y direction. The insertion hole 35 is, for example, a substantially quadrangular hole. The mounting portion 32 is not limited to this example.
　接続部３３は、＋Ｙ方向における筐体３１の端部３１ａに設けられる。すなわち、取付部３２及び接続部３３は、筐体３１の共通の端部３１ａに設けられる。なお、取付部３２と接続部３３とが、筐体３１の互いに異なる部分に設けられても良い。 The connecting portion 33 is provided at the end portion 31a of the housing 31 in the + Y direction. That is, the mounting portion 32 and the connecting portion 33 are provided at the common end portion 31a of the housing 31. The mounting portion 32 and the connecting portion 33 may be provided at different portions of the housing 31.
　接続部３３は、取付部３２から、＋Ｘ方向に離間している。取付部３２と接続部３３との間において、筐体３１に挿通口３１ｂが設けられる。挿通口３１ｂは、＋Ｙ方向における筐体３１の端部３１ａに開口し、筐体３１の内部と外部とを連通する。 The connecting portion 33 is separated from the mounting portion 32 in the + X direction. An insertion port 31b is provided in the housing 31 between the mounting portion 32 and the connecting portion 33. The insertion port 31b opens at the end 31a of the housing 31 in the + Y direction, and communicates the inside and the outside of the housing 31.
　第１の指１３は、取付部３２に取り外し可能に取り付けられる。本実施形態の第１の指１３は、挿入部３６を有する。挿入部３６は、取付部３２の挿入孔３５に対応する形状を有する。例えば、挿入部３６は、略直方体状に形成される。挿入部３６が取付部３２の挿入孔３５に挿入されることで、第１の指１３は、取付部３２に取り外し可能に取り付けられる。 The first finger 13 is removably attached to the attachment portion 32. The first finger 13 of the present embodiment has an insertion portion 36. The insertion portion 36 has a shape corresponding to the insertion hole 35 of the mounting portion 32. For example, the insertion portion 36 is formed in a substantially rectangular parallelepiped shape. The first finger 13 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32.
　本実施形態の第１の指１３は、＋Ｙ方向（取り外し方向）に移動することで、挿入部３６を取付部３２の挿入孔３５から抜くことができる。これにより、第１の指１３は、取付部３２から容易に取り外される。一方で、取付部３２は、挿入孔３５の内面で第１の指１３の挿入部３６に接触することで、取り外し方向と異なる方向に第１の指１３が移動することを制限する。例えば、取付部３２の挿入孔３５の内面は、第１の指１３がＸ方向又はＹ方向に移動することを制限するように、挿入部３６を支持する。 By moving the first finger 13 of the present embodiment in the + Y direction (removal direction), the insertion portion 36 can be pulled out from the insertion hole 35 of the mounting portion 32. As a result, the first finger 13 can be easily removed from the mounting portion 32. On the other hand, the mounting portion 32 contacts the insertion portion 36 of the first finger 13 on the inner surface of the insertion hole 35, thereby restricting the movement of the first finger 13 in a direction different from the removing direction. For example, the inner surface of the insertion hole 35 of the mounting portion 32 supports the insertion portion 36 so as to limit the movement of the first finger 13 in the X or Y direction.
　第１の指１３は、取付部３２に、上述の方法と異なる方法で取り外し可能に取り付けられても良い。例えば、第１の指１３は、取付部３２に、チャック、フック、及びスクリューのような種々の手段により取り外し可能に取り付けられ得る。 The first finger 13 may be detachably attached to the attachment portion 32 by a method different from the above-mentioned method. For example, the first finger 13 can be detachably attached to the attachment portion 32 by various means such as chucks, hooks, and screws.
　第２の指１４は、接続部３３に接続される。本実施形態において、第２の指１４は、恒常的に接続部３３に接続される。第２の指１４は、接続部３３から取り外し可能であっても良い。しかしこの場合でも、第１の指１３は、第２の指１４よりも容易に基体１２から取り外されることができる。例えば、第２の指１４が接続部３３から取り外される場合、第２の指１４にネジの取り外しや分解が行われる。 The second finger 14 is connected to the connecting portion 33. In this embodiment, the second finger 14 is permanently connected to the connecting portion 33. The second finger 14 may be removable from the connecting portion 33. However, even in this case, the first finger 13 can be removed from the substrate 12 more easily than the second finger 14. For example, when the second finger 14 is removed from the connecting portion 33, the screw is removed or disassembled from the second finger 14.
　図２は、第１の実施形態の第２の指１４を概略的に示す断面図である。図２に示すように、本実施形態の第２の指１４は、第１の部分４１、第２の部分４２、第３の部分４３、回転板４４、第１のロッド４５、及び第２のロッド４６を有する。第２の部分４２は、第２の指の先端部の一例である。 FIG. 2 is a cross-sectional view schematically showing the second finger 14 of the first embodiment. As shown in FIG. 2, the second finger 14 of the present embodiment has a first portion 41, a second portion 42, a third portion 43, a rotating plate 44, a first rod 45, and a second portion. It has a rod 46. The second portion 42 is an example of the tip portion of the second finger.
　本実施形態において、第１の部分４１は、人間の指の基節骨に相当する部分を形成する。第２の部分４２は、人間の指の末節骨に相当する部分を形成する。第３の部分４３は、人間の指の中節骨に相当する部分を形成する。つまり、第１の部分４１は、第２の指１４のうち、基体１２に最も近い位置にある部分である。また、第２の部分４２は第２の指１４の先端にあり、第３の部分４３は第１の部分４１と第２の部分４２の間にある。 In the present embodiment, the first portion 41 forms a portion corresponding to the proximal phalanx of a human finger. The second portion 42 forms a portion corresponding to the distal phalanx of the human finger. The third portion 43 forms a portion corresponding to the intermediate phalanx of the human finger. That is, the first portion 41 is the portion of the second finger 14 that is closest to the substrate 12. Also, the second portion 42 is at the tip of the second finger 14, and the third portion 43 is between the first portion 41 and the second portion 42.
　第１の部分４１、第２の部分４２、及び第３の部分４３はそれぞれ、基端部４１ａ，４２ａ，４３ａと、先端部４１ｂ，４２ｂ，４３ｂと、を有する。基端部４１ａ，４２ａ，４３ａは、基体１２に近い第１の部分４１、第２の部分４２、及び第３の部分４３の端部である。先端部４１ｂ，４２ｂ，４３ｂは、基体１２から遠い第１の部分４１、第２の部分４２、及び第３の部分４３の端部である。 The first portion 41, the second portion 42, and the third portion 43 have base end portions 41a, 42a, 43a and tip portions 41b, 42b, 43b, respectively. The base end portions 41a, 42a, 43a are the ends of the first portion 41, the second portion 42, and the third portion 43 close to the substrate 12. The tip portions 41b, 42b, 43b are the ends of the first portion 41, the second portion 42, and the third portion 43 far from the substrate 12.
　第３の部分４３の基端部４３ａに、Ｚ方向に延びる接続軸５１が設けられている。第１の部分４１の先端部４１ｂは、接続軸５１の中心軸Ａｘｂ１まわりに回転可能に、接続軸５１に接続される。すなわち、接続軸５１は、第１の部分４１と第３の部分４３との間の関節である。 A connecting shaft 51 extending in the Z direction is provided at the base end portion 43a of the third portion 43. The tip portion 41b of the first portion 41 is rotatably connected to the connecting shaft 51 around the central axis Axb1 of the connecting shaft 51. That is, the connecting shaft 51 is a joint between the first portion 41 and the third portion 43.
　第２の部分４２の基端部４２ａに、Ｚ方向に延びる接続軸５２が設けられる。第３の部分４３の先端部４３ｂは、接続軸５２の中心軸Ａｘｂ２まわりに回転可能に、接続軸５２に接続される。すなわち、接続軸５２は、第２の部分４２と第３の部分４３との間の関節である。第２の部分４２は、接続軸５２、第３の部分４３、及び接続軸５１を介して、中心軸Ａｘｂ１まわりに回転可能に第１の部分４１に接続されている。 A connecting shaft 52 extending in the Z direction is provided at the base end portion 42a of the second portion 42. The tip portion 43b of the third portion 43 is rotatably connected to the connecting shaft 52 around the central axis Axb2 of the connecting shaft 52. That is, the connecting shaft 52 is a joint between the second portion 42 and the third portion 43. The second portion 42 is rotatably connected to the first portion 41 around the central axis Axb1 via a connecting shaft 52, a third portion 43, and a connecting shaft 51.
　第１の部分４１の基端部４１ａに、Ｚ方向に延びる接続軸５３が設けられている。回転板４４は、接続軸５３の中心軸Ａｘｂ３まわりに回転可能に、接続軸５３に取り付けられる。また、第１の腕部４４ｂに、Ｚ方向に延びる接続軸５４が設けられる。 A connection shaft 53 extending in the Z direction is provided at the base end portion 41a of the first portion 41. The rotating plate 44 is rotatably attached to the connecting shaft 53 around the central axis Axb3 of the connecting shaft 53. Further, the first arm portion 44b is provided with a connecting shaft 54 extending in the Z direction.
　回転板４４は、中部４４ａと、第１の腕部４４ｂと、第２の腕部４４ｃとを有する。中部４４ａは、中心軸Ａｘｂ３まわりに回転可能に接続軸５３に取り付けられる。第１の腕部４４ｂ及び第２の腕部４４ｃは、中部４４ａから、中心軸Ａｘｂ３と略直交する方向に延びている。例えば、第１の腕部４４ｂは第２の指１４の甲に向かって延び、第２の腕部４４ｃは第２の指１４の腹に向かって延びる。 The rotating plate 44 has a central portion 44a, a first arm portion 44b, and a second arm portion 44c. The central portion 44a is rotatably attached to the connecting shaft 53 around the central shaft Axb3. The first arm portion 44b and the second arm portion 44c extend from the central portion 44a in a direction substantially orthogonal to the central axis Axb3. For example, the first arm 44b extends toward the instep of the second finger 14, and the second arm 44c extends toward the belly of the second finger 14.
　図１の基体１２の接続部３３は、接続軸５３の中心軸Ａｘｂ３まわりに回転可能に、接続軸５３に取り付けられる。すなわち、接続軸５３は、第１の部分４１と基体１２との間の関節である。第１の部分４１及び回転板４４は、接続軸５３を介して、接続部３３に回転可能に接続されている。 The connecting portion 33 of the base 12 of FIG. 1 is rotatably attached to the connecting shaft 53 around the central axis Axb3 of the connecting shaft 53. That is, the connecting shaft 53 is a joint between the first portion 41 and the substrate 12. The first portion 41 and the rotating plate 44 are rotatably connected to the connecting portion 33 via the connecting shaft 53.
　図２に示すように、第３の部分４３の基端部４３ａに、Ｚ方向に延びる接続軸５５が設けられている。本実施形態では、接続軸５５は、接続軸５１よりも、第２の指１４の腹に近い。第１のロッド４５は、回転板４４の第２の腕部４４ｃと、接続軸５５とに、回転可能に接続される。 As shown in FIG. 2, a connecting shaft 55 extending in the Z direction is provided at the base end portion 43a of the third portion 43. In this embodiment, the connecting shaft 55 is closer to the pad of the second finger 14 than the connecting shaft 51. The first rod 45 is rotatably connected to the second arm portion 44c of the rotating plate 44 and the connecting shaft 55.
　第１の部分４１の先端部４１ｂに、Ｚ方向に延びる接続軸５６が設けられている。本実施形態において、接続軸５６は、接続軸５１と接続軸５３との間に位置する。第２の部分４２の基端部４２ａに、接続軸５７が設けられている。本実施形態では、接続軸５７は、接続軸５２よりも、第２の指１４の甲に近い。第２のロッド４６は、接続軸５６と接続軸５７とに、回転可能に接続される。 A connecting shaft 56 extending in the Z direction is provided at the tip end portion 41b of the first portion 41. In the present embodiment, the connecting shaft 56 is located between the connecting shaft 51 and the connecting shaft 53. A connecting shaft 57 is provided at the base end portion 42a of the second portion 42. In this embodiment, the connecting shaft 57 is closer to the instep of the second finger 14 than the connecting shaft 52. The second rod 46 is rotatably connected to the connecting shaft 56 and the connecting shaft 57.
　本実施形態において、接続軸５１～５７は、互いに略平行に延びている。このため、第１の部分４１、第２の部分４２、第３の部分４３、回転板４４、第１のロッド４５、及び第２のロッド４６は、共通の仮想平面上で回転可能である。 In this embodiment, the connecting shafts 51 to 57 extend substantially parallel to each other. Therefore, the first portion 41, the second portion 42, the third portion 43, the rotating plate 44, the first rod 45, and the second rod 46 can rotate on a common virtual plane.
　第２の指１４において、回転板４４の第２の腕部４４ｃが基体１２に向かって引かれると、第２の指１４に、中心軸Ａｘｂ３まわりの回転方向Ｄｐ１のトルクが与えられる。これにより、第２の指１４は、基体１２に対して回転方向Ｄｐ１に回転することができる。 When the second arm portion 44c of the rotating plate 44 is pulled toward the base 12 in the second finger 14, torque is applied to the second finger 14 in the rotation direction Dp1 around the central axis Axb3. As a result, the second finger 14 can rotate in the rotation direction Dp1 with respect to the substrate 12.
　また、第２の指１４において、回転板４４の第２の腕部４４ｃが基体１２に向かって引かれると、回転板４４に、接続軸５３まわりの回転方向Ｄｐ１のトルクが与えられる。回転板４４が回転すると、第１の部分４１に回転方向Ｄｐ１のトルクが与えられるとともに、第１のロッド４５が第３の部分４３を引く。これにより、第３の部分４３に、接続軸５１まわりの回転方向Ｄｐ２のトルクが与えられる。 Further, when the second arm portion 44c of the rotating plate 44 is pulled toward the base 12 by the second finger 14, torque is applied to the rotating plate 44 in the rotation direction Dp1 around the connecting shaft 53. When the rotary plate 44 rotates, torque in the rotation direction Dp1 is applied to the first portion 41, and the first rod 45 pulls the third portion 43. As a result, torque in the rotation direction Dp2 around the connecting shaft 51 is applied to the third portion 43.
　第３の部分４３が回転方向Ｄｐ２に回転すると、第３の部分４３が第２の部分４２を引く。これにより、第２の部分４２に接続軸５２まわりの回転方向Ｄｐ３のトルクが与えられる。第１の部分４１、第２の部分４２、及び第３の部分４３が回転方向Ｄｐ１，Ｄｐ２，Ｄｐ３に回転することで、第２の指１４が曲がる（屈曲する）。 When the third part 43 rotates in the rotation direction Dp2, the third part 43 pulls the second part 42. As a result, torque in the rotation direction Dp3 around the connecting shaft 52 is applied to the second portion 42. The second finger 14 bends (bends) when the first portion 41, the second portion 42, and the third portion 43 rotate in the rotation directions Dp1, Dp2, and Dp3.
　図１に示すように、本実施形態の第２の指１４に、第１の部分４１を回転方向Ｄｐ１の反対方向に付勢させる弾性体５８が設けられる。さらに、図２に示すように、第２の指１４に、第２の部分４２及び第３の部分４３を回転方向Ｄｐ２，Ｄｐ３の反対方向に付勢する弾性体５９が設けられる。 As shown in FIG. 1, the second finger 14 of the present embodiment is provided with an elastic body 58 that urges the first portion 41 in the direction opposite to the rotation direction Dp1. Further, as shown in FIG. 2, the second finger 14 is provided with an elastic body 59 that urges the second portion 42 and the third portion 43 in the opposite directions of the rotation directions Dp2 and Dp3.
　弾性体５８，５９は、例えば、コイルバネである。弾性体５８は第１の部分４１を回転方向Ｄｐ１の反対方向に回転させる。弾性体５８は、第２の部分４２及び第３の部分４３を回転方向Ｄｐ２，Ｄｐ３の反対方向に回転させる。これにより、弾性体５８，５９が、第２の指１４を伸展させる。さらに、弾性体５８は、第２の指１４を、第１の指１３から遠ざけるように、中心軸Ａｘｂ３まわりに回転させることができる。 The elastic bodies 58 and 59 are, for example, coil springs. The elastic body 58 rotates the first portion 41 in the direction opposite to the rotation direction Dp1. The elastic body 58 rotates the second portion 42 and the third portion 43 in the directions opposite to the rotation directions Dp2 and Dp3. As a result, the elastic bodies 58 and 59 extend the second finger 14. Further, the elastic body 58 can rotate the second finger 14 around the central axis Axb3 so as to move away from the first finger 13.
　弾性体５８，５９は、第２の指１４を伸展させることが可能な他の弾性体であっても良い。例えば、弾性体５８，５９は、押しバネ、巻きバネ、又は他の形状のバネであっても良く、ゴムのような弾性体であっても良い。また、例えば伝達機構１５によって第２の指１４が伸展することが可能な場合、弾性体５８，５９が省略されても良い。また、弾性体５８、５９のうちどちらか一方が第２の指１４を伸展させることができる場合、伸展に寄与しない弾性体５８又は弾性体５９は省略され得る。 The elastic bodies 58 and 59 may be other elastic bodies capable of extending the second finger 14. For example, the elastic bodies 58 and 59 may be push springs, winding springs, or springs of other shapes, or may be elastic bodies such as rubber. Further, for example, when the second finger 14 can be extended by the transmission mechanism 15, the elastic bodies 58 and 59 may be omitted. Further, when either one of the elastic bodies 58 and 59 can extend the second finger 14, the elastic body 58 or the elastic body 59 that does not contribute to the extension can be omitted.
　本実施形態では、弾性体５９が第２の部分４２と第１の部分４１とをつないで弾性力を予め与える。これにより、第２の指１４の回転方向Ｄｐ１の回転が、第３の部分４３の回転方向Ｄｐ２の回転及び第２の部分４２の回転方向Ｄｐ３の回転より先に生じ得る。回転方向Ｄｐ１に回転する第２の指１４が他の物体に当接し、又は所定の角度まで回転して弾性体５９の弾性力を上回る力が印加されると、第３の部分４３及び第２の部分４２が回転する。 In the present embodiment, the elastic body 59 connects the second portion 42 and the first portion 41 to give an elastic force in advance. As a result, the rotation of the second finger 14 in the rotation direction Dp1 can occur before the rotation of the third portion 43 in the rotation direction Dp2 and the rotation of the second portion 42 in the rotation direction Dp3. When the second finger 14 rotating in the rotation direction Dp1 abuts on another object or rotates to a predetermined angle and a force exceeding the elastic force of the elastic body 59 is applied, the third portion 43 and the second Part 42 rotates.
　図３は、第１の実施形態の物体Ｏを把持するハンド装置１０の一例を概略的に示す平面図である。図３に示すように、第２の部分４２及び第３の部分４３は、第１の部分４１が物体Ｏに当接すると回転する。第２の部分４２は、第３の部分４３が物体Ｏに当接すると回転する。これにより、第２の指１４は、当該第２の指１４に当接する物体Ｏの形状に馴染んで（適応して）、複数の関節（接続軸５１～５４）のうち少なくとも一つで曲がることができる。つまり、本実施形態では、複数の部分で構成された第２の指１４の一部分が物体Ｏに当接して大まかに握った後に、第２の指１４の異なる部分が曲がり物体Ｏに接触することで、より精密に物体を握る。また、第２の指１４の基体１２に近い部分でまず第１の当接を行い、次の第２の指１４の先端に近い部分において第２の当接を行うことで、より物体Ｏに負荷をかけずに物体の形状に馴染むことが可能となる。すなわち、第２の指１４と物体Ｏとの複数の接点において、第２の指１４から物体Ｏへ作用する力が互いに近くなり、又は平均化される。 FIG. 3 is a plan view schematically showing an example of a hand device 10 for gripping the object O of the first embodiment. As shown in FIG. 3, the second portion 42 and the third portion 43 rotate when the first portion 41 abuts on the object O. The second portion 42 rotates when the third portion 43 comes into contact with the object O. As a result, the second finger 14 adapts (adapts) to the shape of the object O that abuts on the second finger 14, and bends at at least one of the plurality of joints (connecting shafts 51 to 54). Can be done. That is, in the present embodiment, after a part of the second finger 14 composed of a plurality of parts comes into contact with the object O and is roughly grasped, then different parts of the second finger 14 come into contact with the bent object O. Then, hold the object more precisely. Further, the first contact is first made at the portion of the second finger 14 near the base 12, and the second contact is made at the portion of the second finger 14 near the tip of the second finger 14, so that the object O is further contacted. It becomes possible to adapt to the shape of an object without applying a load. That is, at a plurality of points of contact between the second finger 14 and the object O, the forces acting on the object O from the second finger 14 are close to each other or averaged.
　第２の指１４は、上述のように曲がることで、第１の指１３に近づく。言い換えると、第２の指１４は、第１の指１３に近づくように動くことができる。第１の部分４１は、第１の指１３に近づくように回転可能である。第２の部分４２は、第１の指１３に近づくように回転可能である。なお、第２の指１４は、第１の指１３から遠ざかるようにも動くことができ、第１の部分４１及び第２の部分４２は、第１の指１３から遠ざかるように回転可能でもある。 The second finger 14 approaches the first finger 13 by bending as described above. In other words, the second finger 14 can move closer to the first finger 13. The first portion 41 is rotatable so as to approach the first finger 13. The second portion 42 is rotatable closer to the first finger 13. The second finger 14 can also move away from the first finger 13, and the first portion 41 and the second portion 42 can also rotate away from the first finger 13. ..
　基体１２の取付部３２と、第２の指１４の第１の部分４１とは、Ｘ方向に間隔を介して並べられる。Ｘ方向は、中心軸Ａｘｂ１～Ａｘｂ４と直交する方向である。このため、第１の部分４１、第２の部分４２、及び第３の部分４３は、取付部３２に近づくように回転可能である。 The attachment portion 32 of the base 12 and the first portion 41 of the second finger 14 are arranged in the X direction with an interval. The X direction is a direction orthogonal to the central axes Axb1 to Axb4. Therefore, the first portion 41, the second portion 42, and the third portion 43 can be rotated so as to approach the mounting portion 32.
　第２の指１４は、上述の構成に限られない。例えば、第２の指１４は、当該第２の指１４の内部で延ばされたワイヤを引っ張ることで曲がり、当該ワイヤを押すことで伸展することが可能であっても良い。また、第２の指１４は、単に接続部３３との接続部分（接続軸５４）まわりに回転可能であっても良いし、略Ｘ方向に平行移動可能であっても良い。 The second finger 14 is not limited to the above configuration. For example, the second finger 14 may be able to bend by pulling a wire stretched inside the second finger 14 and extend by pushing the wire. Further, the second finger 14 may be simply rotatable around the connecting portion (connecting shaft 54) with the connecting portion 33, or may be translated in the substantially X direction.
　図１に示すように、伝達機構１５は、アクチュエータ２１と、第２の指１４との間で力を伝達する。本実施形態では、伝達機構１５が、アクチュエータ２１によって駆動される駆動部品２２と、回転板４４の第２の腕部４４ｃとの間で力を伝達することにより、第２の指１４が曲がり、又は伸展することができる。 As shown in FIG. 1, the transmission mechanism 15 transmits a force between the actuator 21 and the second finger 14. In the present embodiment, the transmission mechanism 15 transmits a force between the drive component 22 driven by the actuator 21 and the second arm portion 44c of the rotating plate 44, so that the second finger 14 bends. Or it can be extended.
　伝達機構１５は、単一の部材、複数のリンク、チェーン、ジョイント、又は他の種々の部品を含み得る。本実施形態では、伝達機構１５は、互いに結合された複数のリンクを有する。図１は、伝達機構１５を二点鎖線で模式的に示す。なお、伝達機構１５は、一つの部品のみを有しても良い。 The transmission mechanism 15 may include a single member, multiple links, chains, joints, or various other components. In this embodiment, the transmission mechanism 15 has a plurality of links coupled to each other. FIG. 1 schematically shows the transmission mechanism 15 by a chain double-dashed line. The transmission mechanism 15 may have only one component.
　伝達機構１５の一方の端部は、筐体３１の内部で駆動部品２２に接続される。伝達機構１５の他方の端部は、筐体３１の外部で回転板４４の第２の腕部４４ｃに接続される。伝達機構１５は、筐体３１の挿通口３１ｂを通り、筐体３１の内部と外部とに亘って延びている。 One end of the transmission mechanism 15 is connected to the drive component 22 inside the housing 31. The other end of the transmission mechanism 15 is connected to the second arm 44c of the rotating plate 44 outside the housing 31. The transmission mechanism 15 passes through the insertion port 31b of the housing 31 and extends to the inside and the outside of the housing 31.
　複数のリンクを含む伝達機構１５は、両端が近づくことで撓むことができる。なお、伝達機構１５は、剛体であっても良い。また、伝達機構１５は、例えばシリンダのように、剛体を含むとともに収縮可能な機構部品を有しても良い。 The transmission mechanism 15 including a plurality of links can be bent by bringing both ends closer to each other. The transmission mechanism 15 may be a rigid body. Further, the transmission mechanism 15 may have a mechanical component that includes a rigid body and can be contracted, such as a cylinder.
　アクチュエータ２１が駆動部品２２を第１の方向Ｄ１に回転させることで、駆動部品２２が伝達機構１５を引く。これにより、アクチュエータ２１が、駆動部品２２及び伝達機構１５を介して、第２の指１４の回転板４４の第２の腕部４４ｃを引く。言い換えると、伝達機構１５が、駆動部品２２と回転板４４の第２の腕部４４ｃとの間で引張力を伝達する。 The actuator 21 rotates the drive component 22 in the first direction D1, so that the drive component 22 pulls the transmission mechanism 15. As a result, the actuator 21 pulls the second arm portion 44c of the rotating plate 44 of the second finger 14 via the driving component 22 and the transmission mechanism 15. In other words, the transmission mechanism 15 transmits a tensile force between the drive component 22 and the second arm portion 44c of the rotating plate 44.
　上述のように、回転板４４の第２の腕部４４ｃが引かれると、第２の指１４が曲がる。すなわち、アクチュエータ２１は、動くことが可能な第２の指１４を駆動させ、曲げさせる。 As described above, when the second arm portion 44c of the rotating plate 44 is pulled, the second finger 14 bends. That is, the actuator 21 drives and bends the movable second finger 14.
　上述のように、本実施形態では、第２の指１４は、物体Ｏの形状に馴染んで（適応して）曲がることができる。すなわち、第２の指１４は、駆動部品２２の動きに応じて、当該第２の指１４に接触した物体Ｏの形状に適応して複数の関節のうち少なくとも一つを曲げる。このため、第２の指１４と物体Ｏとの接触部分が多くなり、複数の第２の指１４が物体Ｏを安定的に握る（掴む、把持する）ことができる。 As described above, in the present embodiment, the second finger 14 can bend (adapt) to the shape of the object O. That is, the second finger 14 bends at least one of the plurality of joints according to the movement of the driving component 22 in accordance with the shape of the object O in contact with the second finger 14. Therefore, the contact portion between the second finger 14 and the object O increases, and the plurality of second fingers 14 can stably grip (grasp, grip) the object O.
　本実施形態において、アクチュエータ２１が駆動部品２２を第２の方向Ｄ２に駆動すると、駆動部品２２が伝達機構１５を第２の指１４に近づける。これにより、第２の指１４に作用する引張力が解除され、例えば弾性体５８，５９のうち少なくとも一方の復元力により第２の指１４が伸展する。 In the present embodiment, when the actuator 21 drives the drive component 22 in the second direction D2, the drive component 22 brings the transmission mechanism 15 closer to the second finger 14. As a result, the tensile force acting on the second finger 14 is released, and the second finger 14 is extended by, for example, the restoring force of at least one of the elastic bodies 58 and 59.
　第１の実施形態の第１の指１３は、基端部６１と、延部６２と、弾性体６３とを有する。基端部６１は、第１の指１３の挿入部３６を含む。すなわち、基端部６１は、取付部３２に取り外し可能に取り付けられる。延部６２は、基端部６１から、略＋Ｙ方向に延びている。第２の指１４は、曲げ又は伸展により、延部６２と略平行に延びることができる。 The first finger 13 of the first embodiment has a base end portion 61, an extension portion 62, and an elastic body 63. The base end portion 61 includes an insertion portion 36 of the first finger 13. That is, the base end portion 61 is removably attached to the attachment portion 32. The extending portion 62 extends from the base end portion 61 in the substantially + Y direction. The second finger 14 can be extended substantially parallel to the extension 62 by bending or extension.
　延部６２は、第１の延部６２ａと、第２の延部６２ｂとを有する。第１の延部６２ａは、基端部６１に接続され、基端部６１から＋Ｙ方向に延びている。第２の延部６２ｂは、第１の延部６２ａの先端部に接続され、第１の延部６２ａから延びている。 The extension portion 62 has a first extension portion 62a and a second extension portion 62b. The first extension portion 62a is connected to the base end portion 61 and extends from the base end portion 61 in the + Y direction. The second extension 62b is connected to the tip of the first extension 62a and extends from the first extension 62a.
　第２の延部６２ｂは、Ｚ方向に延びる中心軸Ａｘｂｆまわりに回転可能に、第１の延部６２ａに接続される。本実施形態では、第２の延部６２ｂは、第２の指１４に近づき又は遠ざかるように中心軸Ａｘｂｆまわりに回転可能に、第１の延部６２ａに接続される。 The second extension 62b is rotatably connected to the first extension 62a around the central axis Axbf extending in the Z direction. In this embodiment, the second extension 62b is rotatably connected to the first extension 62a around the central axis Axbf so as to approach or move away from the second finger 14.
　延部６２は、ストッパ６２ｃをさらに有する。ストッパ６２ｃは、第２の延部６２ｂに接触することで、第２の延部６２ｂが第１の指１３から所定量より遠ざかることを制限する。ストッパ６２ｃが第２の延部６２ｂに接触しているとき、第１の指１３は伸展している。 The extension portion 62 further has a stopper 62c. The stopper 62c restricts the second extension 62b from moving away from the first finger 13 by a predetermined amount by coming into contact with the second extension 62b. The first finger 13 is extended when the stopper 62c is in contact with the second extension 62b.
　弾性体６３は、例えば、コイルバネである。図１は、弾性体６３を二点鎖線で模式的に示す。弾性体６３の一方の端部は、第１の延部６２ａに取り付けられる。弾性体６３の他方の端部は、第２の延部６２ｂに取り付けられる。 The elastic body 63 is, for example, a coil spring. FIG. 1 schematically shows the elastic body 63 by a chain double-dashed line. One end of the elastic body 63 is attached to the first extension 62a. The other end of the elastic body 63 is attached to the second extension 62b.
　弾性体６３は、延部６２が伸展するように、第２の延部６２ｂを中心軸Ａｘｂｆまわりに引く。このため、外力が作用しない自由状態において、第２の延部６２ｂは、第１の延部６２ａから略＋Ｙ方向に延びるように伸展している。 The elastic body 63 pulls the second extension 62b around the central axis Axbf so that the extension 62 extends. Therefore, in the free state in which no external force acts, the second extension portion 62b extends so as to extend in the substantially + Y direction from the first extension portion 62a.
　第２の延部６２ｂは、外力により、又は弾性体６３の引張力により、中心軸Ａｘｂｆまわりに回転する。言い換えると、第１の指１３は、動くことが可能である。しかし、第１の指１３は、アクチュエータ２１との間で力の伝達を行わない。すなわち、第１の指１３は、アクチュエータ２１の駆動から独立して動くことが可能である。 The second extension 62b rotates around the central axis Axbf by an external force or a tensile force of the elastic body 63. In other words, the first finger 13 is capable of moving. However, the first finger 13 does not transmit force to and from the actuator 21. That is, the first finger 13 can move independently of the drive of the actuator 21.
　第１の指１３は、先端部６５をさらに有する。先端部６５は、第１の指１３において基端部６１の反対側に位置し、基体１２から離間している。本実施形態では、第２の延部６２ｂの先端部が、第１の指１３の先端部６５を形成する。 The first finger 13 further has a tip 65. The tip portion 65 is located on the opposite side of the base end portion 61 on the first finger 13 and is separated from the base 12. In the present embodiment, the tip of the second extension 62b forms the tip 65 of the first finger 13.
　第２の指１４において、第２の部分４２が、第２の指１４の先端部を形成する。第２の部分４２は、腹面４２ｃを有する。言い換えると、腹面４２ｃは、第２の指１４の先端部である第２の部分４２に位置する。腹面４２ｃは、第２の面の一例である。 In the second finger 14, the second portion 42 forms the tip of the second finger 14. The second portion 42 has a ventral surface 42c. In other words, the ventral surface 42c is located at the second portion 42, which is the tip of the second finger 14. The ventral surface 42c is an example of the second surface.
　第２の部分４２の腹面４２ｃは、例えば第２の指１４が伸展した状態で、第１の指１３の先端部６５と対向可能である。また、第２の指１４は、第２の部分４２の腹面４２ｃが第１の指１３の先端部６５に接触するように曲がること（移動）が可能である。 The ventral surface 42c of the second portion 42 can face the tip portion 65 of the first finger 13, for example, with the second finger 14 extended. Further, the second finger 14 can be bent (moved) so that the ventral surface 42c of the second portion 42 comes into contact with the tip portion 65 of the first finger 13.
　第１の指１３は、以上説明した形状、構造、及び機能によって限定されるものではない。例えば、第１の指１３は、延部６２が単一の部材として形成され、第１の延部６２ａと第２の延部６２ｂとが中心軸Ａｘｂｆまわりに回転しない構造を有しても良い。言い換えると、第１の指１３は、関節を有さなくても良い。これにより、第１の指１３が簡素化され得る。 The first finger 13 is not limited by the shape, structure, and function described above. For example, the first finger 13 may have a structure in which the extension portion 62 is formed as a single member, and the first extension portion 62a and the second extension portion 62b do not rotate around the central axis Axbf. .. In other words, the first finger 13 does not have to have a joint. This can simplify the first finger 13.
　第１の指１３は、第２の指１４と対向して物体Ｏを挟む以外の機能を容易に与えられることは自明である。例えば、第１の指１３は、先端部６５の一部を針状で形成されることで、物体を刺して把持する機能を与えられることもできる。また、例えば、第１の指１３は、先端部６５の一部に磁力装置や吸盤、粘着物を設けられて第２の指１４を作用させず対象の物体Ｏを吸引把持することもできる。この場合、先端部６５は、対象の物体Ｏを吸着可能であり、吸着部の一例である。 It is self-evident that the first finger 13 can be easily given a function other than sandwiching the object O facing the second finger 14. For example, the first finger 13 can be given a function of piercing and gripping an object by forming a part of the tip portion 65 in the shape of a needle. Further, for example, the first finger 13 can be provided with a magnetic force device, a suction cup, and an adhesive on a part of the tip portion 65, and the target object O can be sucked and gripped without the second finger 14 acting. In this case, the tip portion 65 can adsorb the target object O, which is an example of the adsorbing portion.
　図４は、第１の実施形態の物体Ｏを把持するハンド装置１０の他の例を概略的に示す平面図である。一般的に、対象面Ｆ上の物体Ｏを把持する場合、物体Ｏに対するハンド装置１０の繊細な位置調整が行われる。しかし、図４に示すように、本実施形態のハンド装置１０は、対象面Ｆ上の物体Ｏを容易に把持することができる。 FIG. 4 is a plan view schematically showing another example of the hand device 10 for gripping the object O of the first embodiment. Generally, when the object O on the target surface F is gripped, the delicate position adjustment of the hand device 10 with respect to the object O is performed. However, as shown in FIG. 4, the hand device 10 of the present embodiment can easily grip the object O on the target surface F.
　対象面Ｆは、例えば、床面、机の天面、又は壁面である。すなわち、図４の例において、ハンド装置１０は、床面若しくは机の天面である対象面Ｆ上に載置された物体Ｏを把持し、又は壁面である対象面Ｆ上に貼り付けられた物体Ｏを把持する。 The target surface F is, for example, a floor surface, a top surface of a desk, or a wall surface. That is, in the example of FIG. 4, the hand device 10 grips the object O placed on the object surface F, which is the floor surface or the top surface of the desk, or is attached to the object surface F, which is the wall surface. Grasp the object O.
　例えば、第２の指１４が第１の指１３から離間した状態で、第１の指１３の第２の延部６２ｂが、対象面Ｆに押し付けられる。これにより、第２の延部６２ｂは、中心軸Ａｘｂｆまわりに回転することで、対象面Ｆに沿って（適応して）曲がる。第２の延部６２ｂが曲げられた状態でハンド装置１０が移動することで、第１の指１３が物体Ｏを掬い上げることができる。 For example, the second extension portion 62b of the first finger 13 is pressed against the target surface F in a state where the second finger 14 is separated from the first finger 13. As a result, the second extension 62b bends (adaptively) along the target surface F by rotating around the central axis Axbf. By moving the hand device 10 in a state where the second extension portion 62b is bent, the first finger 13 can scoop up the object O.
　第１の指１３が物体Ｏに接触した状態で、アクチュエータ２１が第２の指１４を駆動させる。駆動された第２の指１４は、物体Ｏを第１の指１３に押し付けながら、物体Ｏの形状に馴染んで曲がる。これにより、ハンド装置１０は、第１の指１３と第２の指１４とで物体Ｏを把持する。 The actuator 21 drives the second finger 14 in a state where the first finger 13 is in contact with the object O. The driven second finger 14 bends to fit the shape of the object O while pressing the object O against the first finger 13. As a result, the hand device 10 grips the object O with the first finger 13 and the second finger 14.
　図３及び図４の例に示すように、第１の指１３及び第２の指１４が物体Ｏを把持する場合、物体Ｏは、Ｘ方向において第１の指１３と第２の指１４との間の中央から偏って配置され得る。このため、物体Ｏに対するハンド装置１０の位置の設定が容易となる。物体Ｏに対するハンド装置１０の位置に応じて、ハンド装置１０は種々の態様で物体Ｏを把持する。 As shown in the examples of FIGS. 3 and 4, when the first finger 13 and the second finger 14 grip the object O, the object O has the first finger 13 and the second finger 14 in the X direction. It can be biased from the center between. Therefore, it becomes easy to set the position of the hand device 10 with respect to the object O. Depending on the position of the hand device 10 with respect to the object O, the hand device 10 grips the object O in various ways.
　図３及び図４の例では、第１の指１３と第２の指１４とが、物体Ｏを包むように握っている。しかし、ハンド装置１０は、第１の指１３の先端部６５と、第２の指１４の第２の部分４２とで物体Ｏを摘まむこともできる。第２の指１４は、第２の部分４２が物体Ｏに接触し、第１の部分４１及び第３の部分４３が物体Ｏから離間している場合に、物体Ｏに安定的に力を作用させる。このため、ハンド装置１０は、第１の指１３及び第２の指１４で物体Ｏを摘まむことで、トングのように安定的に物体Ｏを保持することができる。 In the examples of FIGS. 3 and 4, the first finger 13 and the second finger 14 are gripped so as to wrap the object O. However, the hand device 10 can also pinch the object O with the tip portion 65 of the first finger 13 and the second portion 42 of the second finger 14. The second finger 14 stably exerts a force on the object O when the second portion 42 is in contact with the object O and the first portion 41 and the third portion 43 are separated from the object O. Let me. Therefore, the hand device 10 can stably hold the object O like tongs by picking the object O with the first finger 13 and the second finger 14.
　以上説明された第１の実施形態に係るハンド装置１０において、基体１２の取付部３２に、第１の指１３が取り外し可能に取り付けられる。第２の指１４は、基体１２に接続され、第１の指１３に近づくように動くことが可能である。すなわち、第１の指１３は、用途によって交換可能である。一方、動くための複雑な機構が設けられ得る第２の指１４は、基体１２に恒常的に接続されている。これにより、種々の用途に対応できるハンド装置１０の構造を簡素化することができ、ひいてはハンド装置１０のコストを低減することができる。さらに、例えば、第１の指１３がほぼ動かない場合、ハンド装置１０が把持する物体Ｏと第１の指１３との位置合わせが容易となり、ハンド装置１０の制御が容易となる。 In the hand device 10 according to the first embodiment described above, the first finger 13 is detachably attached to the attachment portion 32 of the base 12. The second finger 14 is connected to the substrate 12 and can move closer to the first finger 13. That is, the first finger 13 can be replaced depending on the application. On the other hand, the second finger 14, which may be provided with a complex mechanism for movement, is permanently connected to the substrate 12. As a result, the structure of the hand device 10 that can be used for various purposes can be simplified, and the cost of the hand device 10 can be reduced. Further, for example, when the first finger 13 does not move substantially, the positioning of the object O gripped by the hand device 10 and the first finger 13 becomes easy, and the control of the hand device 10 becomes easy.
　第１の指１３及び第２の指１４によって物体Ｏを把持するために、第２の指１４が動くため、第１の指１３は動く必要が無い。このため、第１の指１３の形状についての制約は少ない。従って、第１の指１３の形状は、ハンド装置１０の用途に応じて種々の形状に設定され得る。 Since the second finger 14 moves in order to grip the object O by the first finger 13 and the second finger 14, the first finger 13 does not need to move. Therefore, there are few restrictions on the shape of the first finger 13. Therefore, the shape of the first finger 13 can be set to various shapes depending on the use of the hand device 10.
　第２の指１４は、第１の部分４１と第２の部分４２とを有する。第１の部分４１は、第１の指１３に近づくように回転可能に基体１２に接続される。第２の部分４２は、第１の指１３に近づくように回転可能に第１の部分４１に接続される。このように、第２の指１４は、複数の関節（第１の部分４１と基体１２との接続部分である接続軸５４、第２の部分４２と第１の部分４１との接続部分である接続軸５１）で曲がる（屈曲する）ことが可能である。従って、第２の指１４は、例えば、ハンド装置１０が把持する物体Ｏの形状に応じて曲がることができ、物体Ｏをより安定的に把持することができる。 The second finger 14 has a first portion 41 and a second portion 42. The first portion 41 is rotatably connected to the substrate 12 so as to approach the first finger 13. The second portion 42 is rotatably connected to the first portion 41 so as to approach the first finger 13. As described above, the second finger 14 is a plurality of joints (a connecting shaft 54 which is a connecting portion between the first portion 41 and the base 12 and a connecting portion between the second portion 42 and the first portion 41). It is possible to bend (bend) at the connecting shaft 51). Therefore, the second finger 14 can be bent according to the shape of the object O gripped by the hand device 10, for example, and can grip the object O more stably.
　第２の部分４２は、第１の指１３の先端部６５と対向可能である。これにより、第１の指１３の先端部６５と、第２の指１４の第２の部分４２とにより、物体Ｏを摘まむことができる。 The second portion 42 can face the tip portion 65 of the first finger 13. As a result, the object O can be pinched by the tip portion 65 of the first finger 13 and the second portion 42 of the second finger 14.
　取付部３２と、第１の部分４１とは、第１の部分４１の回転の中心軸Ａｘｂ４と直交する方向に並ぶ。これにより、第２の指１４が第１の指１３に接触するように曲がることができ、第１の指１３と第２の指１４とが物体Ｏをより安定的に把持することができる。 The mounting portion 32 and the first portion 41 are arranged in a direction orthogonal to the central axis Axb4 of the rotation of the first portion 41. As a result, the second finger 14 can be bent so as to come into contact with the first finger 13, and the first finger 13 and the second finger 14 can grip the object O more stably.
　第２の指１４は、複数の関節である接続軸５１，５２，５３を有する。第２の指１４は、当該第２の指１４に接触した物体Ｏの形状に適応して複数の関節のうち少なくとも一つで曲がる。これにより、第２の指１４が物体Ｏを包み込むように曲がり、第１の指１３と第２の指１４とが物体Ｏをより安定的に把持することができる。 The second finger 14 has connecting shafts 51, 52, 53 which are a plurality of joints. The second finger 14 adapts to the shape of the object O in contact with the second finger 14 and bends at at least one of the plurality of joints. As a result, the second finger 14 bends so as to wrap around the object O, and the first finger 13 and the second finger 14 can grip the object O more stably.
　アクチュエータ２１は、第２の指１４を駆動させる。第１の指１３は、アクチュエータ２１の駆動から独立して動くことが可能である。これにより、第１の指１３が動く場合でも、ハンド装置１０の構造が複雑化することが抑制される。 The actuator 21 drives the second finger 14. The first finger 13 can move independently of the drive of the actuator 21. As a result, even when the first finger 13 moves, the structure of the hand device 10 is prevented from becoming complicated.
（第２の実施形態）
　以下に、第２の実施形態について、図５を参照して説明する。なお、以下の複数の実施形態の説明において、既に説明された構成要素と同様の機能を持つ構成要素は、当該既述の構成要素と同じ符号が付され、さらに説明が省略される場合がある。また、同じ符号が付された複数の構成要素は、全ての機能及び性質が共通するとは限らず、各実施形態に応じた異なる機能及び性質を有していても良い。 (Second Embodiment)
The second embodiment will be described below with reference to FIG. In the following description of the plurality of embodiments, the components having the same functions as the components already described may be designated by the same reference numerals as those described above, and the description may be omitted. .. Further, the plurality of components with the same reference numerals do not necessarily have all the functions and properties in common, and may have different functions and properties according to each embodiment.
　図５は、第２の実施形態に係るハンド装置１０を概略的に示す側面図である。図５に示すように、第２の実施形態では、第１の実施形態の第１の指１３と異なる第１の指１００が、基体１２に取り外し可能に取り付けられる。 FIG. 5 is a side view schematically showing the hand device 10 according to the second embodiment. As shown in FIG. 5, in the second embodiment, the first finger 100, which is different from the first finger 13 of the first embodiment, is removably attached to the substrate 12.
　第２の実施形態の第１の指１００は、第１の実施形態の第１の指１３と同じく、挿入部３６を有する。挿入部３６が取付部３２の挿入孔３５に挿入されることで、第１の指１００は、取付部３２に取り外し可能に取り付けられる。第１の指１００は、取付部３２に、他の方法で取り外し可能に取り付けられても良い。 The first finger 100 of the second embodiment has an insertion portion 36 like the first finger 13 of the first embodiment. The first finger 100 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32. The first finger 100 may be detachably attached to the attachment portion 32 by another method.
　第２の実施形態の第１の指１００は、基端部１０１と、複数の延部１０２とを有する。基端部１０１は、第１の指１００の挿入部３６を含む。すなわち、基端部１０１は、取付部３２に取り外し可能に取り付けられる。 The first finger 100 of the second embodiment has a base end portion 101 and a plurality of extending portions 102. The base end portion 101 includes an insertion portion 36 of the first finger 100. That is, the base end portion 101 is removably attached to the attachment portion 32.
　複数の延部１０２は、基端部１０１から、略＋Ｙ方向に延びている。言い換えると、複数の延部１０２は、互いに略平行に延びている。なお、複数の延部１０２は、互いに異なる方向に延びていても良い。第２の指１４は、曲げ又は伸展により、複数の延部１０２と略平行に延びることができる。 The plurality of extension portions 102 extend from the base end portion 101 in the substantially + Y direction. In other words, the plurality of extension portions 102 extend substantially parallel to each other. The plurality of extending portions 102 may extend in different directions from each other. The second finger 14 can be extended substantially parallel to the plurality of extension 102 by bending or extension.
　図５の例において、第１の指１００は、二つの延部１０２を有する。二つの延部１０２は、Ｚ方向に互いに離間している。Ｚ方向において、二つの延部１０２の間に、第２の指１４が位置する。なお、第１の指１００は、この例に限られない。 In the example of FIG. 5, the first finger 100 has two extension 102. The two extension 102s are separated from each other in the Z direction. In the Z direction, the second finger 14 is located between the two extension 102. The first finger 100 is not limited to this example.
　延部１０２は、第１の延部１０２ａと、第２の延部１０２ｂとを有する。第１の延部１０２ａは、基端部１０１に接続され、基端部１０１から＋Ｙ方向に延びている。第２の延部１０２ｂは、第１の延部１０２ａの先端部に接続され、第１の延部１０２ａから延びている。 The extension 102 has a first extension 102a and a second extension 102b. The first extending portion 102a is connected to the proximal end portion 101 and extends from the proximal end portion 101 in the + Y direction. The second extension 102b is connected to the tip of the first extension 102a and extends from the first extension 102a.
　第２の延部１０２ｂは、Ｚ方向に延びる中心軸Ａｘｂｆまわりに回転可能に、第１の延部１０２ａに接続される。本実施形態では、第２の延部１０２ｂは、第２の指１４に近づき又は遠ざかるように中心軸Ａｘｂｆまわりに回転可能に、第１の延部１０２ａに接続される。 The second extension 102b is rotatably connected to the first extension 102a around the central axis Axbf extending in the Z direction. In this embodiment, the second extension 102b is rotatably connected to the first extension 102a around the central axis Axbf so as to approach or move away from the second finger 14.
　第２の延部１０２ｂは、例えば外力により、中心軸Ａｘｂｆまわりに回転する。言い換えると、第１の指１００は、動くことが可能である。しかし、第１の指１００は、アクチュエータ２１との間で力の伝達を行わない。すなわち、第１の指１００は、アクチュエータ２１の駆動から独立して動くことが可能である。 The second extension 102b is rotated around the central axis Axbf by, for example, an external force. In other words, the first finger 100 is capable of moving. However, the first finger 100 does not transmit force to and from the actuator 21. That is, the first finger 100 can move independently of the drive of the actuator 21.
　第２の実施形態の第１の指１００及び第２の指１４は、第１の実施形態の第１の指１３及び第２の指１４と同じく、物体Ｏを把持することができる。第２の実施形態の第１の指１００及び第２の指１４は、第１の実施形態よりも、Ｚ方向に長い物体Ｏを安定的に把持することができる。 The first finger 100 and the second finger 14 of the second embodiment can grip the object O in the same manner as the first finger 13 and the second finger 14 of the first embodiment. The first finger 100 and the second finger 14 of the second embodiment can stably grip the object O which is longer in the Z direction than the first embodiment.
　第１の指１００は、例えば、延部１０２が単一の部材として形成され、第１の延部１０２ａと第２の延部１０２ｂとが中心軸Ａｘｂｆまわりに回転しない構造を有しても良い。言い換えると、第１の指１００は、関節を有さなくても良い。これにより、第１の指１００が簡素化され得る。さらに、複数の第１の指１００が、例えばフォークのように機能し、物体Ｏを指して把持しても良い。 The first finger 100 may have, for example, a structure in which the extension portion 102 is formed as a single member, and the first extension portion 102a and the second extension portion 102b do not rotate around the central axis Axbf. .. In other words, the first finger 100 does not have to have a joint. This can simplify the first finger 100. Further, the plurality of first fingers 100 may function like a fork, for example, and may point to and grip the object O.
　以上説明された第２の実施形態のハンド装置１０において、第１の指１００は、取付部３２に取り付けられる基端部１０１と、当該基端部１０１から延びる複数の延部１０２と、を有する。このような第１の指１００が取付部３２に取り付けられることにより、ハンド装置１０は、実質的に指の数を増加させることができる。例えば、延部６２の数が一つである第１の実施形態の第１の指１３が取付部３２に取り付けられる場合、ハンド装置１０の指の数は二つとなる。しかし、延部１０２の数が二つである第２の実施形態の第１の指１００が取付部３２に取り付けられることで、ハンド装置１０の指の数は三つとなる。例えば、物体Ｏに対応する数の延部１０２を有する第１の指１００が、取付部３２に取り付けられる。これにより、ハンド装置１０は、物体Ｏを安定的に把持することができる。 In the hand device 10 of the second embodiment described above, the first finger 100 has a base end portion 101 attached to the attachment portion 32 and a plurality of extension portions 102 extending from the base end portion 101. .. By attaching such a first finger 100 to the attachment portion 32, the hand device 10 can substantially increase the number of fingers. For example, when the first finger 13 of the first embodiment in which the number of the total portions 62 is one is attached to the attachment portion 32, the number of fingers of the hand device 10 is two. However, when the first finger 100 of the second embodiment, which has two total portions 102, is attached to the attachment portion 32, the number of fingers of the hand device 10 becomes three. For example, a first finger 100 having a number of extension 102 corresponding to the object O is attached to the attachment portion 32. As a result, the hand device 10 can stably grip the object O.
（第３の実施形態）
　以下に、第３の実施形態について、図６を参照して説明する。図６は、第３の実施形態に係るハンド装置１０を概略的に示す側面図である。図６に示すように、第３の実施形態では、第１の実施形態の第１の指１３と異なる第１の指２００が、基体１２に取り外し可能に取り付けられる。 (Third Embodiment)
The third embodiment will be described below with reference to FIG. FIG. 6 is a side view schematically showing the hand device 10 according to the third embodiment. As shown in FIG. 6, in the third embodiment, the first finger 200, which is different from the first finger 13 of the first embodiment, is detachably attached to the base 12.
　第３の実施形態の第１の指２００は、第１の実施形態の第１の指１３と同じく、挿入部３６を有する。挿入部３６が取付部３２の挿入孔３５に挿入されることで、第１の指２００は、取付部３２に取り外し可能に取り付けられる。第１の指２００は、取付部３２に、他の方法で取り外し可能に取り付けられても良い。 The first finger 200 of the third embodiment has an insertion portion 36 like the first finger 13 of the first embodiment. The first finger 200 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32. The first finger 200 may be detachably attached to the attachment portion 32 by another method.
　第３の実施形態の第１の指２００は、基端部２０１と、箆部２０２とを有する。基端部２０１は、第１の指２００の挿入部３６を含む。すなわち、基端部２０１は、取付部３２に取り外し可能に取り付けられる。 The first finger 200 of the third embodiment has a base end portion 201 and a spatula portion 202. The proximal end 201 includes the insertion portion 36 of the first finger 200. That is, the base end portion 201 is removably attached to the attachment portion 32.
　箆部２０２は、基端部２０１から、略＋Ｙ方向に延びている。第２の指１４は、曲げ又は伸展により、箆部２０２と略平行に延びることができる。箆部２０２は、基端部２０１から遠ざかるに従って薄くなる板状に形成される。 The spatula portion 202 extends from the base end portion 201 in the substantially + Y direction. The second finger 14 can be extended substantially parallel to the spatula 202 by bending or extension. The spatula portion 202 is formed in a plate shape that becomes thinner as the distance from the base end portion 201 increases.
　箆部２０２は、箆面２０２ａを有する。箆面２０２ａは、第１の面の一例である。箆面２０２ａと、当該箆面２０２ａの反対側の面（裏面）とは、箆部２０２が形成する他の面よりも広い。 The spatula portion 202 has a spatula surface 202a. The spatula surface 202a is an example of the first surface. The surface 202a on the opposite side (back surface) of the surface 202a is wider than the other surface formed by the portion 202.
　箆面２０２ａは、第１の指２００の先端部に位置する。箆面２０２ａは、第１の指２００において基端部２０１の反対側に位置し、基体１２から離間している。箆面２０２ａは、例えば第２の指１４が伸展した状態で、第２の指１４の第２の部分４２の腹面４２ｃと対向可能である。第２の部分４２の腹面４２ｃも、例えば第２の指１４が伸展した状態で、箆面２０２ａと対向可能である。 The spatula surface 202a is located at the tip of the first finger 200. The spatula surface 202a is located on the opposite side of the base end portion 201 at the first finger 200 and is separated from the substrate 12. The spatula surface 202a can face the ventral surface 42c of the second portion 42 of the second finger 14, for example, with the second finger 14 extended. The ventral surface 42c of the second portion 42 can also face the spatula surface 202a, for example, with the second finger 14 extended.
　箆面２０２ａは、腹面４２ｃよりも広い。本実施形態において、例えば、Ｚ方向における箆面２０２ａの長さは、Ｚ方向における腹面４２ｃの長さよりも長い。さらに、第２の指１４が伸展した状態において、Ｙ方向における箆面２０２ａの長さは、Ｙ方向における腹面４２ｃの長さよりも長い。 The spatula surface 202a is wider than the abdominal surface 42c. In the present embodiment, for example, the length of the spatula surface 202a in the Z direction is longer than the length of the ventral surface 42c in the Z direction. Further, in the extended state of the second finger 14, the length of the spatula surface 202a in the Y direction is longer than the length of the ventral surface 42c in the Y direction.
　箆部２０２は、第２の部分４２よりも薄い。このため、箆部２０２は、物体Ｏと対象面Ｆとの間の隙間に容易に入り込むことができる。さらに、箆面２０２ａが広いため、箆面２０２ａは例えば扁平な物体Ｏを安定的に支持することができる。 The spatula 202 is thinner than the second part 42. Therefore, the spatula portion 202 can easily enter the gap between the object O and the target surface F. Further, since the spatula surface 202a is wide, the spatula surface 202a can stably support, for example, a flat object O.
　以上の第１の指２００は、単一の部材として形成され、関節を有さない。これにより、第１の指２００が簡素化され得る。なお、第１の指２００は、少なくとも一つの関節を有し、当該関節で曲がることが可能であっても良い。 The above first finger 200 is formed as a single member and has no joint. This can simplify the first finger 200. The first finger 200 may have at least one joint and may be able to bend at the joint.
　駆動された第２の指１４は、箆面２０２ａに載置された物体Ｏの形状に馴染んで曲がる。これにより、ハンド装置１０は、第１の指２００と第２の指１４とで物体Ｏを保持する。例えば、ハンド装置１０は、箆面２０２ａに載置された扁平な物体Ｏを保持し、ひっくり返すことができる。 The driven second finger 14 bends according to the shape of the object O placed on the spatula surface 202a. As a result, the hand device 10 holds the object O between the first finger 200 and the second finger 14. For example, the hand device 10 can hold the flat object O placed on the spatula surface 202a and turn it over.
　以上説明された第３の実施形態のハンド装置１０において、第１の指２００は、当該第１の指２００の先端部に位置するとともに第２の指１４と対向可能な箆面２０２ａを有する。第２の指１４は、当該第２の指１４の先端部である第２の部分４２に位置するとともに箆面２０２ａと対向可能な腹面４２ｃを有する。箆面２０２ａは、腹面４２ｃよりも広い。このような第１の指２００が取付部３２に取り付けられることにより、ハンド装置１０は、例えば、広い箆面２０２ａに載置された物体Ｏを第２の指１４で押さえることができる。従って、ハンド装置１０は、第２の指１４の腹面４２ｃよりも広い物体を、安定的に保持することができる。 In the hand device 10 of the third embodiment described above, the first finger 200 has a spatula surface 202a located at the tip of the first finger 200 and facing the second finger 14. The second finger 14 has a ventral surface 42c that is located at the second portion 42 that is the tip end portion of the second finger 14 and that can face the spatula surface 202a. The spatula surface 202a is wider than the abdominal surface 42c. By attaching such a first finger 200 to the attachment portion 32, the hand device 10 can hold the object O placed on the wide spatula surface 202a with the second finger 14, for example. Therefore, the hand device 10 can stably hold an object wider than the ventral surface 42c of the second finger 14.
　第１の指２００は、関節を有さない。第２の指１４は、複数の関節（接続軸５１～５４）を有し、当該複数の関節で曲がることが可能である。これにより、第１の指２００が簡素化されるとともに、第２の指１４が曲がることで物体Ｏを保持することができる。 The first finger 200 has no joints. The second finger 14 has a plurality of joints (connecting shafts 51 to 54) and can bend at the plurality of joints. This simplifies the first finger 200 and allows the second finger 14 to bend to hold the object O.
　なお、第２の部分４２の幅は、箆面２０２ａと同じ幅であっても良く、箆面２０２ａよりも広い幅であっても良い。また、第１の部分４１及び第３の部分４３の幅も同様に、箆面２０２ａと同じ幅であっても良く、箆面２０２ａよりも広い幅であっても良い。 The width of the second portion 42 may be the same as the width of the spatula surface 202a, or may be wider than the width of the spatula surface 202a. Similarly, the widths of the first portion 41 and the third portion 43 may be the same width as the spatula surface 202a, or may be wider than the spatula surface 202a.
（第４の実施形態）
　以下に、第４の実施形態について、図７を参照して説明する。図７は、第４の実施形態に係るハンド装置１０を概略的に示す平面図である。図７に示すように、第４の実施形態では、第１の実施形態の第１の指１３と異なる第１の指３００が、基体１２に取り外し可能に取り付けられる。 (Fourth Embodiment)
The fourth embodiment will be described below with reference to FIG. FIG. 7 is a plan view schematically showing the hand device 10 according to the fourth embodiment. As shown in FIG. 7, in the fourth embodiment, the first finger 300, which is different from the first finger 13 of the first embodiment, is detachably attached to the base 12.
　第４の実施形態の第１の指３００は、第１の実施形態の第１の指１３と同じく、挿入部３６を有する。挿入部３６が取付部３２の挿入孔３５に挿入されることで、第１の指３００は、取付部３２に取り外し可能に取り付けられる。第１の指３００は、取付部３２に、他の方法で取り外し可能に取り付けられても良い。 The first finger 300 of the fourth embodiment has an insertion portion 36 like the first finger 13 of the first embodiment. The first finger 300 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32. The first finger 300 may be detachably attached to the attachment portion 32 by another method.
　第４の実施形態の第１の指３００は、基端部３０１と、支持部３０２と、第１の回転軸３０３と、第１の回転盤３０４と、回転装置３０５とを有する。第１の指３００は、関節を有さない。しかし、第１の指３００は、少なくとも一つの関節を有し、当該関節で曲がることが可能であっても良い。基端部３０１は、第１の指３００の挿入部３６を含む。すなわち、基端部３０１は、取付部３２に取り外し可能に取り付けられる。 The first finger 300 of the fourth embodiment has a base end portion 301, a support portion 302, a first rotating shaft 303, a first rotating disk 304, and a rotating device 305. The first finger 300 has no joints. However, the first finger 300 may have at least one joint and be capable of bending at that joint. The base end portion 301 includes an insertion portion 36 of the first finger 300. That is, the base end portion 301 is removably attached to the attachment portion 32.
　支持部３０２は、基端部３０１から、略＋Ｙ方向に延びている。第２の指１４は、曲げ又は伸展により、支持部３０２と略平行に延びることができる。支持部３０２は、第１の指３００の先端部３０７を形成する。先端部３０７は、第１の指３００において基端部３０１の反対側に位置し、基体１２から離間している。 The support portion 302 extends from the base end portion 301 in the substantially + Y direction. The second finger 14 can extend substantially parallel to the support portion 302 by bending or extending. The support portion 302 forms the tip portion 307 of the first finger 300. The tip portion 307 is located on the opposite side of the base end portion 301 on the first finger 300 and is separated from the base 12.
　第１の回転軸３０３は、先端部３０７において、支持部３０２に支持される。第１の回転軸３０３は、当該第１の回転軸３０３の中心軸Ａｘｒ１まわりに回転可能である。中心軸Ａｘｒ１は、第１の回転中心の一例である。中心軸Ａｘｒ１は、例えば、略Ｘ方向に延びている。なお、中心軸Ａｘｒ１は、他の方向に延びていても良い。 The first rotation shaft 303 is supported by the support portion 302 at the tip portion 307. The first rotation shaft 303 is rotatable around the central axis Axr1 of the first rotation shaft 303. The central axis Axr1 is an example of the first rotation center. The central axis Axr1 extends in the substantially X direction, for example. The central axis Axr1 may extend in another direction.
　第１の回転盤３０４は、第１の回転軸３０３に取り付けられる。第１の回転盤３０４は、Ｘ方向において、支持部３０２と、第２の指１４との間に位置する。なお、第１の回転盤３０４は、他の位置にあっても良い。第１の回転盤３０４は、中心軸Ａｘｒ１と略直交する板状に形成される。第１の回転盤３０４は、第１の回転軸３０３と一体に、中心軸Ａｘｒ１まわりに回転可能である。 The first rotating disk 304 is attached to the first rotating shaft 303. The first turntable 304 is located between the support portion 302 and the second finger 14 in the X direction. The first turntable 304 may be in another position. The first turntable 304 is formed in a plate shape substantially orthogonal to the central axis Axr1. The first turntable 304 can rotate around the central axis Axr1 integrally with the first turnover shaft 303.
　第１の回転盤３０４は、中心軸Ａｘｒ１と略直交する第１の回転面３０４ａを有する。第１の回転面３０４ａは、第１の面の一例である。第１の回転面３０４ａは、第１の指３００の先端部３０７に位置する。第１の回転面３０４ａは、例えば第２の指１４が伸展した状態で、第２の指１４の第２の部分４２の腹面４２ｃと対向可能である。 The first rotating disk 304 has a first rotating surface 304a that is substantially orthogonal to the central axis Axr1. The first rotating surface 304a is an example of the first surface. The first rotating surface 304a is located at the tip portion 307 of the first finger 300. The first rotating surface 304a can face the ventral surface 42c of the second portion 42 of the second finger 14, for example, with the second finger 14 extended.
　本実施形態の回転装置３０５は、例えば、モータ３０５ａ、第１のカム３０５ｂ、ロッド３０５ｃ、及び第２のカム３０５ｄを有する。なお、回転装置３０５は、例えばベルトのような他の部品を有しても良い。なお、第１のカム３０５ｂ、ロッド３０５ｃ、及び第２のカム３０５ｄが省略され、先端部３０７の近傍に配置されたモータ３０５ａが第１の回転軸３０３を回転させても良い。 The rotating device 305 of the present embodiment includes, for example, a motor 305a, a first cam 305b, a rod 305c, and a second cam 305d. The rotating device 305 may have other parts such as a belt. The first cam 305b, the rod 305c, and the second cam 305d may be omitted, and the motor 305a arranged in the vicinity of the tip portion 307 may rotate the first rotation shaft 303.
　モータ３０５ａの駆動軸に、第１のカム３０５ｂが接続される。第１の回転軸３０３に、第２のカム３０５ｄが接続される。ロッド３０５ｃの一方の端部は、モータ３０５ａの駆動軸から偏心して、第１のカム３０５ｂに接続される。さらに、ロッド３０５ｃの他方の端部は、第１の回転軸３０３から偏心して、第２のカム３０５ｄに接続される。 The first cam 305b is connected to the drive shaft of the motor 305a. The second cam 305d is connected to the first rotation shaft 303. One end of the rod 305c is eccentric from the drive shaft of the motor 305a and is connected to the first cam 305b. Further, the other end of the rod 305c is eccentric from the first rotating shaft 303 and connected to the second cam 305d.
　モータ３０５ａは、例えば、図１の制御部２に電気的に接続される。例えば、制御部２がモータ３０５ａの端子に電圧を印加することで、当該電圧に応じて、モータ３０５ａが第１のカム３０５ｂを回転駆動させる。第１のカム３０５ｂの回転力は、ロッド３０５ｃ及び第２のカム３０５ｄを通じて、第１の回転軸３０３に伝達される。これにより、回転装置３０５は、第１の回転盤３０４及び第１の回転面３０４ａを、中心軸Ａｘｒ１まわりに回転させる。 The motor 305a is electrically connected to, for example, the control unit 2 in FIG. For example, when the control unit 2 applies a voltage to the terminal of the motor 305a, the motor 305a rotates and drives the first cam 305b according to the voltage. The rotational force of the first cam 305b is transmitted to the first rotating shaft 303 through the rod 305c and the second cam 305d. As a result, the rotating device 305 rotates the first rotating disk 304 and the first rotating surface 304a around the central axis Axr1.
　第４の実施形態において、第２の指１４の第２の部分４２は、第２の回転軸３１１と第２の回転盤３１２とを追加的に有する。例えば、第２の回転軸３１１及び第２の回転盤３１２が第１の実施形態の第２の部分４２に取り付けられても良いし、第１の実施形態の第２の部分４２が第４の実施形態の第２の部分４２と交換されても良い。 In the fourth embodiment, the second portion 42 of the second finger 14 additionally has a second rotating shaft 311 and a second rotating disk 312. For example, the second rotating shaft 311 and the second rotating disk 312 may be attached to the second portion 42 of the first embodiment, or the second portion 42 of the first embodiment is the fourth. It may be replaced with the second part 42 of the embodiment.
　第２の回転軸３１１は、第２の部分４２の腹面４２ｃから突出する。第２の回転軸３１１は、当該第２の回転軸３１１の中心軸Ａｘｒ２まわりに回転可能である。中心軸Ａｘｒ２は、第２の回転中心の一例である。 The second rotation shaft 311 protrudes from the ventral surface 42c of the second portion 42. The second rotating shaft 311 is rotatable around the central axis Axr2 of the second rotating shaft 311. The central axis Axr2 is an example of a second rotation center.
　中心軸Ａｘｒ２が延びる方向は、第２の指１４が曲がり、又は伸展することで変化する。例えば、第２の指１４が伸展している状態で、中心軸Ａｘｒ２は、略Ｘ方向に延びている。すなわち、中心軸Ａｘｒ２は、中心軸Ａｘｒ１と平行に位置することが可能である。さらに、中心軸Ａｘｒ２は、中心軸Ａｘｒ１と同心に位置することが可能である。なお、中心軸Ａｘｒ２は、他の方向に延びていても良い。 The direction in which the central axis Axr2 extends changes when the second finger 14 bends or extends. For example, with the second finger 14 extended, the central axis Axr2 extends in the substantially X direction. That is, the central axis Axr2 can be positioned parallel to the central axis Axr1. Further, the central axis Axr2 can be located concentrically with the central axis Axr1. The central axis Axr2 may extend in another direction.
　第２の回転盤３１２は、第２の回転軸３１１に取り付けられる。第２の回転盤３１２は、例えば第２の指１４が伸展した状態で、Ｘ方向において、腹面４２ｃと第１の回転盤３０４との間に位置する。なお、第２の回転盤３１２は、他の位置にあっても良い。第２の回転盤３１２は、中心軸Ａｘｒ２と略直交する板状に形成される。 The second turntable 312 is attached to the second turn shaft 311. The second turntable 312 is located between the ventral surface 42c and the first turntable 304 in the X direction, for example, with the second finger 14 extended. The second turntable 312 may be in another position. The second turntable 312 is formed in a plate shape substantially orthogonal to the central axis Axr2.
　本実施形態において、第２の回転軸３１１及び第２の回転盤３１２は、モータのような駆動源に接続されない。このため、第２の回転軸３１１及び第２の回転盤３１２は、第２の部分４２に容易に設けられる。 In the present embodiment, the second rotating shaft 311 and the second rotating disk 312 are not connected to a drive source such as a motor. Therefore, the second rotating shaft 311 and the second rotating disk 312 are easily provided in the second portion 42.
　第２の回転盤３１２は、中心軸Ａｘｒ２と略直交する第２の回転面３１２ａを有する。このため、第２の回転面３１２ａは、第２の指１４の先端部である第２の部分４２に位置する。第２の回転面３１２ａは、第２の面の一例である。第２の回転面３１２ａは、例えば第２の指１４が伸展した状態で、第１の指３００の第１の回転面３０４ａと対向可能である。 The second rotating disk 312 has a second rotating surface 312a that is substantially orthogonal to the central axis Axr2. Therefore, the second rotating surface 312a is located at the second portion 42, which is the tip end portion of the second finger 14. The second rotating surface 312a is an example of the second surface. The second rotating surface 312a can face the first rotating surface 304a of the first finger 300, for example, with the second finger 14 extended.
　第２の回転盤３１２は、第２の回転軸３１１と一体に、中心軸Ａｘｒ２まわりに回転可能である。このため、第２の回転盤３１２の第２の回転面３１２ａも、中心軸Ａｘｒ２まわりに回転可能である。 The second rotating disk 312 can rotate around the central axis Axr2 integrally with the second rotating shaft 311. Therefore, the second rotating surface 312a of the second rotating disk 312 can also rotate around the central axis Axr2.
　ハンド装置１０は、第１の指３００の第１の回転面３０４ａと、第２の指１４の第２の回転面３１２ａとの間に、物体Ｏを摘まむことができる。回転装置３０５が第１の回転盤３０４の第１の回転面３０４ａを中心軸Ａｘｒ１まわりに回転させることにより、物体Ｏも中心軸Ａｘｒ１まわりに回転する。 The hand device 10 can pinch the object O between the first rotating surface 304a of the first finger 300 and the second rotating surface 312a of the second finger 14. When the rotating device 305 rotates the first rotating surface 304a of the first rotating disk 304 around the central axis Axr1, the object O also rotates around the central axis Axr1.
　第１の回転面３０４ａから、物体Ｏを介して、第２の回転面３１２ａに回転力が伝達する。これにより、第２の回転盤３１２の第２の回転面３１２ａは、中心軸Ａｘｒ２まわりに受動的に回転する。中心軸Ａｘｒ２が中心軸Ａｘｒ１と同心、又は平行であることで、第２の回転盤３１２の第２の回転面３１２ａは、滑らかに回転することができる。 The rotational force is transmitted from the first rotating surface 304a to the second rotating surface 312a via the object O. As a result, the second rotating surface 312a of the second rotating disk 312 passively rotates around the central axis Axr2. Since the central axis Axr2 is concentric or parallel to the central axis Axr1, the second rotating surface 312a of the second rotating disk 312 can rotate smoothly.
　以上説明された第４の実施形態のハンド装置１０において、第１の指３００は、当該第１の指３００の先端部３０７に位置するとともに第２の指１４と対向可能な第１の回転面３０４ａと、第１の回転面３０４ａと直交する中心軸Ａｘｒ１まわりに当該第１の回転面３０４ａを回転させる回転装置３０５と、を有する。これにより、第１の指３００と第２の指１４とが把持した物体Ｏを、中心軸Ａｘｒ１まわりに回転させることができる。 In the hand device 10 of the fourth embodiment described above, the first finger 300 is located at the tip portion 307 of the first finger 300 and is a first rotating surface that can face the second finger 14. It has a 304a and a rotating device 305 that rotates the first rotating surface 304a around a central axis Axr1 orthogonal to the first rotating surface 304a. As a result, the object O gripped by the first finger 300 and the second finger 14 can be rotated around the central axis Axr1.
　第２の指１４は、当該第２の指１４の先端部である第２の部分４２に位置するとともに第１の回転面３０４ａと対向可能な第２の回転面３１２ａを有する。第２の回転面３１２ａは、中心軸Ａｘｒ１と同心に位置することが可能な中心軸Ａｘｒ２まわりに回転可能である。これにより、第１の指３００の回転装置３０５による物体Ｏの回転を第２の指１４が妨げることが抑制される。 The second finger 14 has a second rotating surface 312a that is located at the second portion 42 that is the tip end portion of the second finger 14 and that can face the first rotating surface 304a. The second rotating surface 312a is rotatable around a central axis Axr2 that can be located concentrically with the central axis Axr1. As a result, it is possible to prevent the second finger 14 from hindering the rotation of the object O by the rotating device 305 of the first finger 300.
　第２の回転軸３１１は、第２の部分４２と略Ｚ軸まわりに回転可能なように、第２の部分４２の腹面４２ｃから突出しても良い。例えば、第１の回転盤３０４と第２の回転盤３１２との間で保持された物体Ｏの大きさ又は形状によって、第２の部分４２の腹面４２ｃと第１の回転盤３０４とが平行に対向しない場合がある。この場合、第２の回転軸３１１が略Ｚ軸まわりに回転することで、第１の回転盤３０４と第２の回転盤３１２とが略平行になることが可能となる。同様に、先端部３０７も略Ｚ軸回りに回転可能な構造を有することで、同様の効果を得ることも可能となる。 The second rotation shaft 311 may protrude from the ventral surface 42c of the second portion 42 so as to be rotatable around the second portion 42 and substantially the Z axis. For example, depending on the size or shape of the object O held between the first turntable 304 and the second turntable 312, the ventral surface 42c of the second portion 42 and the first turntable 304 are parallel to each other. It may not face each other. In this case, by rotating the second rotating shaft 311 around the substantially Z axis, the first rotating plate 304 and the second rotating plate 312 can be made substantially parallel to each other. Similarly, the tip portion 307 also has a structure that can rotate about the Z axis, so that the same effect can be obtained.
　第１の回転盤３０４及び第２の回転盤３１２の少なくとも一方に、例えば、磁力装置、吸盤、又は粘着物が設けられても良い。この場合、第１の回転盤３０４は、対象の物体Ｏを吸着可能であり、吸着部の一例である。これにより、第１の指３００及び第２の指１４は、物体Ｏを吸引把持することができる。 For example, a magnetic force device, a suction cup, or an adhesive may be provided on at least one of the first turntable 304 and the second turntable 312. In this case, the first turntable 304 can adsorb the target object O, which is an example of the adsorbing portion. As a result, the first finger 300 and the second finger 14 can suck and grip the object O.
（第５の実施形態）
　以下に、第５の実施形態について、図８を参照して説明する。図８は、第５の実施形態に係るハンド装置１０を概略的に示す平面図である。図８に示すように、第５の実施形態では、第１の実施形態の第１の指１３と異なる第１の指４００が、基体１２に取り外し可能に取り付けられる。 (Fifth Embodiment)
The fifth embodiment will be described below with reference to FIG. FIG. 8 is a plan view schematically showing the hand device 10 according to the fifth embodiment. As shown in FIG. 8, in the fifth embodiment, the first finger 400, which is different from the first finger 13 of the first embodiment, is detachably attached to the base 12.
　第５の実施形態の第１の指４００は、第１の実施形態の第１の指１３と同じく、挿入部３６を有する。挿入部３６が取付部３２の挿入孔３５に挿入されることで、第１の指４００は、取付部３２に取り外し可能に取り付けられる。第１の指４００は、取付部３２に、他の方法で取り外し可能に取り付けられても良い。 The first finger 400 of the fifth embodiment has the insertion portion 36 like the first finger 13 of the first embodiment. The first finger 400 is removably attached to the attachment portion 32 by inserting the insertion portion 36 into the insertion hole 35 of the attachment portion 32. The first finger 400 may be detachably attached to the attachment portion 32 by another method.
　第５の実施形態の第１の指４００は、基端部４０１と、匙部４０２とを有する。第１の指４００は、関節を有さない。しかし、第１の指４００は、少なくとも一つの関節を有し、当該関節で曲がることが可能であっても良い。基端部４０１は、第１の指４００の挿入部３６を含む。すなわち、基端部４０１は、取付部３２に取り外し可能に取り付けられる。 The first finger 400 of the fifth embodiment has a base end portion 401 and a spoon portion 402. The first finger 400 has no joints. However, the first finger 400 may have at least one joint and be capable of bending at that joint. The proximal end 401 includes the insertion portion 36 of the first finger 400. That is, the base end portion 401 is removably attached to the attachment portion 32.
　匙部４０２は、基端部４０１から、略＋Ｙ方向に延びている。第２の指１４は、曲げ又は伸展により、匙部４０２と略平行に延びることができる。匙部４０２は、スプーン状に形成される。 The spoon portion 402 extends from the base end portion 401 in the substantially + Y direction. The second finger 14 can be extended substantially parallel to the spoon portion 402 by bending or extension. The spoon portion 402 is formed in the shape of a spoon.
　匙部４０２は、略平坦な基面４０２ａを有する。基面４０２ａは、第１の指４００の先端部に位置する。基面４０２ａは、第１の指４００において基端部４０１の反対側に位置し、基体１２から離間している。 The spoon portion 402 has a substantially flat base surface 402a. The base surface 402a is located at the tip of the first finger 400. The base surface 402a is located on the opposite side of the base end portion 401 on the first finger 400 and is separated from the base surface 12.
　基面４０２ａは、例えば第２の指１４が伸展した状態で、第２の指１４の第２の部分４２の腹面４２ｃと対向可能である。第２の部分４２の腹面４２ｃも、例えば第２の指１４が伸展した状態で、基面４０２ａと対向可能である。 The base surface 402a can face the ventral surface 42c of the second portion 42 of the second finger 14, for example, with the second finger 14 extended. The ventral surface 42c of the second portion 42 can also face the base surface 402a, for example, with the second finger 14 extended.
　匙部４０２に、基面４０２ａから窪んだ凹部４０２ｂが設けられる。凹部４０２ｂは、例えば、液体又は多数の粒のような流動物を掬い、収容することができる。第２の指１４の腹面４２ｃは、凹部４０２ｂと対向可能である。 The spoon portion 402 is provided with a recess 402b recessed from the base surface 402a. The recess 402b can scoop and contain, for example, a liquid or a fluid such as a large number of grains. The ventral surface 42c of the second finger 14 can face the recess 402b.
　第５の実施形態において、伝達機構１５は、例えば、一つの剛体であるロッドを有する。このため、アクチュエータ２１及び駆動部品２２は、伝達機構１５を介して、第２の指１４の回転板４４の第２の腕部４４ｃを引くのみならず、第２の腕部４４ｃを押すことができる。 In the fifth embodiment, the transmission mechanism 15 has, for example, a rod that is a rigid body. Therefore, the actuator 21 and the drive component 22 not only pull the second arm portion 44c of the rotating plate 44 of the second finger 14 but also push the second arm portion 44c via the transmission mechanism 15. it can.
　なお、伝達機構１５は所望の動作が実施できるのであれば、他の実施例同様に、複数のリンク、チェーン、ジョイント、又は他の種々の部品を含み得る。 Note that the transmission mechanism 15 may include a plurality of links, chains, joints, or various other components as in other embodiments, provided that the desired operation can be performed.
　第５の実施形態において、第２の指１４は、レバー４１１を追加的に有する。レバー４１１は、操作されることで、図２及び図８の弾性体５８，５９の少なくとも一方が力を作用させる位置を変更する。例えば、弾性体５８，５９は、第１の部分４１、第２の部分４２、及び第３の部分４３を回転方向Ｄｐ１，Ｄｐ２，Ｄｐ３の反対方向に回転させることで、第２の指１４を伸展させる。しかし、レバー４１１が操作されることで、弾性体５９は、第３の部分４３、及び第２の部分４２を回転方向Ｄｐ２，Ｄｐ３に回転させることで、第２の指１４を曲げる。 In a fifth embodiment, the second finger 14 additionally has a lever 411. When the lever 411 is operated, the position where at least one of the elastic bodies 58 and 59 of FIGS. 2 and 8 exerts a force is changed. For example, the elastic bodies 58 and 59 rotate the first portion 41, the second portion 42, and the third portion 43 in the opposite directions of the rotation directions Dp1, Dp2, and Dp3 to rotate the second finger 14. Extend. However, when the lever 411 is operated, the elastic body 59 bends the second finger 14 by rotating the third portion 43 and the second portion 42 in the rotation directions Dp2 and Dp3.
　レバー４１１は、実施例の一つである。例えば、上述の動作の切り替えは、他の部品により行われても良い。また、部品を追加することなく、弾性体５８，５９又は他の部材の取り付け位置を変更することで、上述の動作の切り替えが行われても良い。 Lever 411 is one of the examples. For example, the above-mentioned operation switching may be performed by another component. Further, the above-mentioned operation may be switched by changing the mounting position of the elastic bodies 58, 59 or other members without adding any parts.
　第５の実施形態のハンド装置１０は、匙部４０２の凹部４０２ｂに収容された流動物を均し、当該流動物の量を摺り切り一杯に調整することができる。以下、具体的に説明する。まず、レバー４１１が操作されることで、弾性体５９は、第２の指１４を凹部４０２ｂと挿入部３６との間に第２の部分４２の先端が移動するように曲げる。これにより、第２の指１４が第１の指４００に近づき、例えば第２の部分４２の腹面４２ｃが基面４０２ａに接触する。 The hand device 10 of the fifth embodiment can even out the fluid contained in the recess 402b of the spoon portion 402, and adjust the amount of the fluid to the fullest extent. Hereinafter, a specific description will be given. First, by operating the lever 411, the elastic body 59 bends the second finger 14 so that the tip of the second portion 42 moves between the recess 402b and the insertion portion 36. As a result, the second finger 14 approaches the first finger 400, and for example, the ventral surface 42c of the second portion 42 comes into contact with the base surface 402a.
　次に、匙部４０２の凹部４０２ｂに流動物が掬われる。このとき、流動物が匙部４０２の基面４０２ａから盛り上がっていることがある。 Next, the fluid is scooped up in the recess 402b of the spoon portion 402. At this time, the fluid may rise from the base surface 402a of the spoon portion 402.
　次に、アクチュエータ２１が駆動部品２２を第２の方向Ｄ２に回転させることで、駆動部品２２が伝達機構１５を押す。これにより、第２の指１４が、図８の矢印で示す方向に移動して伸展する。 Next, the actuator 21 rotates the drive component 22 in the second direction D2, so that the drive component 22 pushes the transmission mechanism 15. As a result, the second finger 14 moves and extends in the direction indicated by the arrow in FIG.
　第２の指１４は、伸展時に、凹部４０２ｂの縁に接触した状態で移動する。これにより、第２の指１４は、基面４０２ａから盛り上がっていた流動物を除去し、凹部４０２ｂに収容された流動物を均す。 The second finger 14 moves in contact with the edge of the recess 402b when extended. As a result, the second finger 14 removes the fluid that has risen from the base surface 402a and smoothes the fluid contained in the recess 402b.
　第５の実施形態のハンド装置１０の動作は、上述の摺り切り動作に限られない。例えば、レバー４１１を操作したり、弾性体又は駆動源を追加したり、第２の指１４の姿勢を任意に変化したり、ハンド装置１０の位置及び姿勢を調整したりすることで、ハンド装置１０は種々の動作を行うことができる。 The operation of the hand device 10 of the fifth embodiment is not limited to the above-mentioned scraping operation. For example, by operating the lever 411, adding an elastic body or a drive source, arbitrarily changing the posture of the second finger 14, and adjusting the position and posture of the hand device 10, the hand device 10 can perform various operations.
　以上説明された第５の実施形態のハンド装置において、第１の指４００は、当該第１の指４００の先端部に位置するとともに第２の指１４と対向可能な基面４０２ａを有し、前記基面４０２ａから窪んだ凹部４０２ｂが設けられる。第２の指１４は、凹部４０２ｂの縁に接触した状態で移動することで当該凹部４０２ｂに収容された物体を均すことが可能である。これにより、ハンド装置１０は、所望の量の流動物を第１の指４００の凹部４０２ｂで取ることができる。 In the hand device of the fifth embodiment described above, the first finger 400 has a base surface 402a located at the tip of the first finger 400 and facing the second finger 14. A recess 402b recessed from the base surface 402a is provided. By moving the second finger 14 in contact with the edge of the recess 402b, it is possible to level the object housed in the recess 402b. As a result, the hand device 10 can take a desired amount of fluid in the recess 402b of the first finger 400.
　以上、第１の指１３，１００，２００，３００，４００の形状及び機能が互いに異なる複数の実施形態のハンド装置１０が説明された。しかし、ハンド装置１０は、第１の指（上述の第１の指１３，１００，２００，３００，４００、又は他の第１の指）を装着可能であれば良く、第１の指を有さなくても良い。 The hand devices 10 of a plurality of embodiments in which the shapes and functions of the first fingers 13, 100, 200, 300, and 400 are different from each other have been described above. However, the hand device 10 only needs to be able to attach the first finger (the first finger 13, 100, 200, 300, 400, or the other first finger described above), and has the first finger. You don't have to.
　例えば、ハンド装置１０は、第１の指を有さない状態で、ロボット１に搭載される。さらに、複数の第１の指が棚に保持される。ロボット１は、アーム等を動かすことで、ハンド装置１０にいずれかの第１の指を取り付け、又はハンド装置１０から第１の指を取り外すことができる。このように、ハンド装置１０は、常時第１の指を有している必要は無い。第１の指が無いハンド装置１０も、ハンド装置として扱われる。 For example, the hand device 10 is mounted on the robot 1 without having the first finger. In addition, a plurality of first fingers are held on the shelf. The robot 1 can attach any first finger to the hand device 10 or remove the first finger from the hand device 10 by moving an arm or the like. As described above, the hand device 10 does not need to always have the first finger. The hand device 10 without the first finger is also treated as a hand device.
　以上、本開示の実施形態について詳述したが、本開示は上記した個々の実施形態に限定されるものではない。請求の範囲に規定された内容及びその均等物から導き出される本発明の概念的な思想と趣旨を逸脱しない範囲において種々の追加、変更、置き換え及び部分的削除等が可能である。例えば、前述した全ての実施形態において、数値又は数式を説明に用いている場合は、一例として示したものであり、これらに限られるものではない。また、実施形態における各動作の順序は、一例として示したものであり、これらに限られるものではない。 Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, changes, replacements, partial deletions, etc. are possible without departing from the conceptual idea and purpose of the present invention derived from the contents specified in the claims and their equivalents. For example, in all the above-described embodiments, when numerical values or mathematical formulas are used for explanation, they are shown as examples, and the present invention is not limited thereto. Further, the order of each operation in the embodiment is shown as an example, and is not limited to these.

Claims (13)

  1. 　第１の指が取り外し可能に取り付けられる取付部、を有する基体と、
    　前記基体に接続され、前記第１の指に近づくように動くことが可能な第２の指と、
    　を具備するハンド装置。     A base with a mounting part, to which the first finger is detachably mounted, and
    A second finger that is connected to the substrate and capable of moving closer to the first finger,
    A hand device equipped with.
  2. 　前記第２の指は、第１の部分と第２の部分とを有し、
    　前記第１の部分は、前記第１の指に近づくように回転可能に前記基体に接続され、
    　前記第２の部分は、前記第１の指に近づくように回転可能に前記第１の部分に接続される、
    　請求項１のハンド装置。     The second finger has a first portion and a second portion.
    The first portion is rotatably connected to the substrate so as to approach the first finger.
    The second portion is rotatably connected to the first portion so as to approach the first finger.
    The hand device of claim 1.
  3. 　前記第２の部分は、前記第１の指の先端部と対向可能である、請求項２のハンド装置。 The hand device according to claim 2, wherein the second portion can face the tip of the first finger.
  4. 　前記取付部と、前記第１の部分とは、前記第１の部分の回転の中心軸と直交する方向に並ぶ、請求項２又は請求項３のハンド装置。 The hand device according to claim 2 or 3, wherein the mounting portion and the first portion are arranged in a direction orthogonal to the central axis of rotation of the first portion.
  5. 　前記第２の指は、複数の関節を有し、当該第２の指に接触した物体の形状に適応して前記複数の関節のうち少なくとも一つで曲がる、請求項１乃至請求項４のいずれか一つのハンド装置。 Any one of claims 1 to 4, wherein the second finger has a plurality of joints and bends at least one of the plurality of joints according to the shape of an object in contact with the second finger. One hand device.
  6. 　前記第２の指を駆動させるアクチュエータと、
    　前記取付部に取り外し可能に取り付けられるとともに、前記アクチュエータの駆動から独立して動くことが可能な前記第１の指と、
    　をさらに具備する請求項１乃至請求項５のいずれか一つのハンド装置。     The actuator that drives the second finger and
    The first finger, which can be detachably attached to the attachment portion and can move independently of the drive of the actuator.
    The hand device according to any one of claims 1 to 5, further comprising.
  7. 　前記取付部に取り外し可能に取り付けられる基端部と、前記基端部から延びる複数の延部と、を有する前記第１の指、をさらに具備する請求項１乃至請求項５のいずれか一つのハンド装置。 One of claims 1 to 5, further comprising the first finger having a base end portion removably attached to the mounting portion and a plurality of extending portions extending from the base end portion. Hand device.
  8. 　前記取付部に取り外し可能に取り付けられた前記第１の指、
    　をさらに具備し、
    　前記第１の指は、当該第１の指の先端部に位置するとともに前記第２の指と対向可能な第１の面を有し、
    　前記第２の指は、当該第２の指の先端部に位置するとともに前記第１の面と対向可能な第２の面を有し、
    　前記第１の面は、前記第２の面よりも広い、
    　請求項１乃至請求項５のいずれか一つのハンド装置。     The first finger, which is detachably attached to the attachment portion,
    Further equipped,
    The first finger has a first surface located at the tip of the first finger and capable of facing the second finger.
    The second finger has a second surface that is located at the tip of the second finger and can face the first surface.
    The first surface is wider than the second surface.
    A hand device according to any one of claims 1 to 5.
  9. 　前記取付部に取り外し可能に取り付けられた前記第１の指、
    　をさらに具備し、
    　前記第１の指は、当該第１の指の先端部に位置するとともに前記第２の指と対向可能な第１の面と、前記第１の面と直交する第１の回転中心まわりに当該第１の面を回転させる回転装置と、を有する、
    　請求項１乃至請求項５のいずれか一つのハンド装置。     The first finger, which is detachably attached to the attachment portion,
    Further equipped,
    The first finger is located at the tip of the first finger and is capable of facing the second finger, and is located around a first rotation center orthogonal to the first surface. It has a rotating device that rotates the first surface.
    A hand device according to any one of claims 1 to 5.
  10. 　前記第２の指は、当該第２の指の先端部に位置するとともに前記第１の面と対向可能な第２の面を有し、
    　前記第２の面は、前記第１の回転中心と同心に位置することが可能な第２の回転中心まわりに回転可能である、
    　請求項９のハンド装置。     The second finger has a second surface that is located at the tip of the second finger and can face the first surface.
    The second surface is rotatable around a second center of rotation that can be located concentrically with the first center of rotation.
    The hand device of claim 9.
  11. 　前記取付部に取り外し可能に取り付けられた前記第１の指、
    　をさらに具備し、
    　前記第１の指は、当該第１の指の先端部に位置するとともに前記第２の指と対向可能な基面を有し、前記基面から窪んだ凹部が設けられ、
    　前記第２の指は、前記凹部の縁に接触した状態で移動することで前記凹部に収容された物体を均すことが可能である、
    　請求項１乃至請求項５のいずれか一つのハンド装置。     The first finger, which is detachably attached to the attachment portion,
    Further equipped,
    The first finger is located at the tip of the first finger and has a base surface that can face the second finger, and a recess recessed from the base surface is provided.
    By moving the second finger in contact with the edge of the recess, it is possible to level the object housed in the recess.
    A hand device according to any one of claims 1 to 5.
  12. 　前記取付部に取り外し可能に取り付けられた前記第１の指、
    　をさらに具備し、
    　前記第１の指は、関節を有さず、
    　前記第２の指は、複数の関節を有し、当該複数の関節で曲がることが可能である、
    　請求項１乃至請求項４のいずれか一つのハンド装置。     The first finger, which is detachably attached to the attachment portion,
    Further equipped,
    The first finger has no joints and
    The second finger has a plurality of joints and is capable of bending at the plurality of joints.
    A hand device according to any one of claims 1 to 4.
  13. 　前記取付部に取り外し可能に取り付けられた前記第１の指、
    　をさらに具備し、
    　前記第１の指は、対象物を吸着可能な吸着部を有する、
    　請求項１乃至請求項６のいずれか一つのハンド装置。     The first finger, which is detachably attached to the attachment portion,
    Further equipped,
    The first finger has a suction portion capable of sucking an object.
    The hand device according to any one of claims 1 to 6.
PCT/JP2020/044842 2019-12-02 2020-12-02 Hand device WO2021112121A1 (en)

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JP2019218382A JP2021088012A (en) 2019-12-02 2019-12-02 Hand device
JP2019-218382 2019-12-02

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4349695A1 (en) 2021-05-25 2024-04-10 Nippon Steel Corporation Automobile body

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002361587A (en) * 2001-06-04 2002-12-18 Juki Corp Nipping device for electronic parts
JP2009255191A (en) * 2008-04-14 2009-11-05 Canon Inc Robot manipulator
JP2011064216A (en) * 2009-09-15 2011-03-31 Honda Motor Co Ltd Fluid pressure transmission device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002361587A (en) * 2001-06-04 2002-12-18 Juki Corp Nipping device for electronic parts
JP2009255191A (en) * 2008-04-14 2009-11-05 Canon Inc Robot manipulator
JP2011064216A (en) * 2009-09-15 2011-03-31 Honda Motor Co Ltd Fluid pressure transmission device

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