WO2021112121A1 - Dispositif à main - Google Patents

Dispositif à main 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
English (en)
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/fr

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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.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Un dispositif à main selon un mode de réalisation de la présente invention comprend : un corps de base ayant une partie de fixation à laquelle un premier doigt peut être fixé de manière détachable ; et un second doigt qui est relié au corps de base et qui peut se déplacer de façon à s'approcher du premier doigt.
PCT/JP2020/044842 2019-12-02 2020-12-02 Dispositif à main WO2021112121A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019218382A JP2021088012A (ja) 2019-12-02 2019-12-02 ハンド装置
JP2019-218382 2019-12-02

Publications (1)

Publication Number Publication Date
WO2021112121A1 true WO2021112121A1 (fr) 2021-06-10

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PCT/JP2020/044842 WO2021112121A1 (fr) 2019-12-02 2020-12-02 Dispositif à main

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JP (1) JP2021088012A (fr)
WO (1) WO2021112121A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022250091A1 (fr) 2021-05-25 2022-12-01 日本製鉄株式会社 Carrosserie automobile

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002361587A (ja) * 2001-06-04 2002-12-18 Juki Corp 電子部品挟持装置
JP2009255191A (ja) * 2008-04-14 2009-11-05 Canon Inc ロボットマニピュレータ
JP2011064216A (ja) * 2009-09-15 2011-03-31 Honda Motor Co Ltd 流体圧伝達装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002361587A (ja) * 2001-06-04 2002-12-18 Juki Corp 電子部品挟持装置
JP2009255191A (ja) * 2008-04-14 2009-11-05 Canon Inc ロボットマニピュレータ
JP2011064216A (ja) * 2009-09-15 2011-03-31 Honda Motor Co Ltd 流体圧伝達装置

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