WO2021145290A1 - ハンド装置 - Google Patents

ハンド装置 Download PDF

Info

Publication number
WO2021145290A1
WO2021145290A1 PCT/JP2021/000560 JP2021000560W WO2021145290A1 WO 2021145290 A1 WO2021145290 A1 WO 2021145290A1 JP 2021000560 W JP2021000560 W JP 2021000560W WO 2021145290 A1 WO2021145290 A1 WO 2021145290A1
Authority
WO
WIPO (PCT)
Prior art keywords
finger
connecting portion
component
intermediate component
hand device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2021/000560
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
深谷　直樹
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Preferred Networks Inc
Original Assignee
Preferred Networks Inc
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 Preferred Networks Inc filed Critical Preferred Networks Inc
Priority to JP2021571176A priority Critical patent/JP7539930B2/ja
Publication of WO2021145290A1 publication Critical patent/WO2021145290A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

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 hand device can grip an object located between two fingers.
  • the hand device may be difficult for the hand device to properly grasp the object.
  • One example of the problem to be solved by the present invention is to provide a hand device capable of grasping an object located at a position different from the center between fingers that are close to each other.
  • the hand device includes a substrate, a first finger, a second finger, and a drive mechanism.
  • the substrate has a first connecting portion and a second connecting portion.
  • the first finger is connected to the first connecting portion and can move so as to approach the second connecting portion.
  • the second finger is connected to the second connecting portion and can move so as to approach the first connecting portion.
  • the drive mechanism has an intermediate component connected to the first finger and the second finger, and an actuator for moving the intermediate component, and is at least a portion of the intermediate component with respect to the first connection portion.
  • the first finger is moved in response to a specific movement
  • the second finger is moved in response to at least a partial movement of the intermediate component with respect to the second connection portion.
  • the intermediate component can be moved to a first position where the distance between the intermediate component and the first connecting portion is different from the distance between the intermediate component and the second connecting portion.
  • 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 the first finger of the first embodiment.
  • FIG. 3 is a plan view schematically showing a hand device in which the first finger and the second finger of the first embodiment are opened.
  • FIG. 4 is a plan view schematically showing a first example of a hand device for gripping an object according to the first embodiment.
  • FIG. 5 is a plan view schematically showing a second example of the hand device for gripping the object of the first embodiment.
  • FIG. 6 is a plan view schematically showing a third example of the hand device for gripping the object of the first embodiment.
  • FIG. 7 is a plan view schematically showing a first example of a hand device for gripping an object according to a second embodiment.
  • FIG. 8 is a plan view schematically showing a second example of the hand device for gripping the object of the second embodiment.
  • FIG. 9 is a perspective view schematically showing the hand device according to the third embodiment.
  • the first embodiment will be described below with reference to FIGS. 1 to 6.
  • the component 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 also be identified by names different from those herein.
  • the components may also be described by expressions different from those herein.
  • 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 a Solid State Drive.
  • the control unit 2 may have a power supply 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 base 12, a first finger 13, a second finger 14, and a drive 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 and the second finger 14 may also be referred to as movable fingers.
  • 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 substrate 12 has, for example, a housing 20, a first connecting portion 21, and a second connecting portion 22.
  • the housing 20 is formed in a substantially box shape.
  • FIG. 1 schematically shows the housing 20 and the inside thereof.
  • the first connection portion 21 and the second connection portion 22 are provided at the end portion 20a of the housing 20 in the + Y direction. That is, the first connection portion 21 and the second connection portion 22 are provided at the common end portion 20a of the housing 20. The first connection portion 21 and the second connection portion 22 may be provided in different portions of the housing 20.
  • the second connecting portion 22 is located at a position separated from the first connecting portion 21 in the X direction (+ X direction in the present embodiment).
  • the X direction is an example of a direction in which the second connecting portion is separated from the first connecting portion.
  • An insertion port 20b is provided in the housing 20 between the first connection portion 21 and the second connection portion 22. The insertion port 20b opens at the end 20a of the housing 20 in the + Y direction, and communicates the inside and the outside of the housing 20.
  • the first finger 13 is connected to the first connecting portion 21.
  • the second finger 14 is connected to the second connecting portion 22. That is, the second finger 14 is connected to the substrate 12 at a position away from the first finger 13.
  • the first finger 13 and the second finger 14 can be bent so as to face each other and approach each other. In this embodiment, bending includes, for example, overall rotation starting from the root and flexion at each joint.
  • the first finger 13 and the second finger 14 have substantially the same shape, structure, and function. Therefore, in the following description, the first finger 13 will be mainly described. Unless otherwise specified, the shape, structure, and function of the second finger 14 can be understood by replacing the first finger 13 with the second finger 14 in the following description. However, as shown in FIG. 1, the first finger 13 and the second finger 14 are connected to the base 12 so as to be mirror-symmetrical to each other. Further, the first finger 13 and the second finger 14 may have different shapes, structures, and functions from each other.
  • FIG. 2 is a cross-sectional view schematically showing the first finger 13 of the first embodiment.
  • the first finger 13 and the second finger 14 of the present embodiment are the first portion 41, the second portion 42, the third portion 43, the rotating plate 44, and the first finger, respectively. It has a rod 45 and a second rod 46.
  • 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 first finger 13 that is closest to the substrate 12.
  • the second portion 42 is at the tip of the first finger 13, 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.
  • the rotating plate 44 has a central portion 44a, a first arm portion 44b, and a second arm portion 44c.
  • a connecting shaft 53 extending in the Z direction is provided at the base end portion 41a of the first portion 41.
  • the central portion 44a of the rotating plate 44 is rotatably attached to the connecting shaft 53 around the central shaft Axb3 of the connecting shaft 53.
  • 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 first finger 13 and the second arm 44c extends toward the belly of the first finger 13.
  • the first arm portion 44b is provided with a connecting shaft 54 extending in the Z direction.
  • the first connecting portion 21 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 of the first finger 13.
  • the second connecting portion 22 is rotatably attached to the connecting shaft 53 around the central axis Axb3 of the connecting shaft 53 of the second finger 14. 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 of the first finger 13 are rotatably connected to the first connecting portion 21 via the connecting shaft 53.
  • the first portion 41 and the rotating plate 44 of the second finger 14 are rotatably connected to the second connecting portion 22 via the connecting shaft 53.
  • the first finger 13 and the second finger 14 can rotate (bend) around the central axis Axb3 of the connecting shaft 53 as a whole.
  • 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 first finger 13 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 extending in the Z direction 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 first finger 13 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.
  • each of the first finger 13 and the second finger 14 of the present embodiment is provided with an elastic body 58 for urging the first portion 41 in the direction opposite to the rotation direction Dp1.
  • the elastic body 58 is connected to, for example, the housing 20 and the first arm portion 44b of the rotating plate 44.
  • each of the first finger 13 and the second finger 14 has 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. It will be provided.
  • the elastic bodies 58 and 59 provided on the first finger 13 are examples of the first elastic body.
  • the elastic bodies 58 and 59 provided on the second finger 14 are examples of the second elastic body.
  • the elastic body 59 is connected to, for example, the tip end portion 41b of the first portion 41 and the base end portion 42a of the second portion 42.
  • the elastic bodies 58 and 59 are, for example, coil springs.
  • the elastic body 58 urges the first portion 41 to rotate in the direction opposite to the rotation direction Dp1.
  • the elastic body 58 urges the second portion 42 and the third portion 43 to rotate in opposite directions of the rotation directions Dp2 and Dp3.
  • the elastic bodies 58 and 59 of the first finger 13 urge the first finger 13 so that the first finger 13 extends.
  • the elastic bodies 58 and 59 of the second finger 14 urge the second finger 14 so that the second finger 14 extends.
  • FIG. 3 is a plan view schematically showing a hand device 10 in which the first finger 13 and the second finger 14 of the first embodiment are opened.
  • the elastic body 58 of the first finger 13 is around the central axis Axb3 of the connecting shaft 53 so as to keep the first finger 13 away from the second finger 14 and the second connecting portion 22. Can be rotated to.
  • the elastic body 58 of the second finger 14 can rotate the second finger 14 around the central axis Axb3 of the connecting shaft 53 so as to keep the second finger 14 away from the first finger 13 and the first connecting portion 21. can.
  • the elastic bodies 58 and 59 may be other elastic bodies capable of extending the first finger 13 and 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 of FIG. 2 connects the second portion 42 and the first portion 41 to give an elastic force in advance.
  • the rotation of the first finger 13 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 first finger 13 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. 4 is a plan view schematically showing a first example of the 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 first finger 13 and the second finger 14 are adapted to (adapted to) the shape of the object O that abuts on the first finger 13 and the second finger 14, and a plurality of joints (connecting shafts). You can turn at least one of 51-53).
  • a part of the first finger 13 composed of a plurality of parts abuts on the object O and is roughly grasped, and then different parts of the first finger 13 come into contact with the bent object O. Hold the object more precisely. Further, the first finger 13 first makes a first contact at a portion close to the substrate 12, and then makes a second contact at a portion close to the next tip, so that the object O is not loaded more. It is possible to adapt to the shape of the object O. That is, at a plurality of points of contact between the first finger 13 and the object O, the forces acting on the object O from the first finger 13 are close to each other or averaged.
  • the first finger 13 bends as described above to approach the second finger 14 and the second connecting portion 22. In other words, the first finger 13 can move closer to the second finger 14 and the second connecting portion 22.
  • the first portion 41, the second portion 42, and the third portion 43 are rotatable closer to the second finger 14 and the second connecting portion 22, respectively.
  • the first finger 13 can also move away from the second finger 14 and the second connecting portion 22, and the first portion 41, the second portion 42, and the third portion 43 are It is also rotatable away from the second finger 14 and the second connection 22.
  • the second finger 14 bends in the same manner as the first finger 13 described above, so that the second finger 14 approaches the first finger 13 and the first connecting portion 21. In other words, the second finger 14 can move closer to the first finger 13 and the first connecting portion 21.
  • the first portion 41, the second portion 42, and the third portion 43 are rotatable so as to approach the first finger 13 and the first connecting portion 21, respectively.
  • the second finger 14 can also move away from the first finger 13 and the first connecting portion 21, and the first portion 41, the second portion 42, and the third portion 43 can be moved away from the first finger 13 and the first connecting portion 21. It is also rotatable away from the first finger 13 and the first connection 21.
  • the first connecting portion 21 and the second connecting portion 22 are arranged in the X direction with an interval. Therefore, the first finger 13 and the second finger 14 can be arranged in the X direction with an interval.
  • the X direction is a direction orthogonal to the central axes Axb1 to Axb3. Therefore, the first portion 41, the second portion 42, and the third portion 43 of the first finger 13 can be rotated so as to approach the second connecting portion 22. Further, the first portion 41, the second portion 42, and the third portion 43 of the second finger 14 can be rotated so as to approach the first connecting portion 21.
  • the second part 42 has a ventral surface 42c.
  • the ventral surface 42c of the first finger 13 and the ventral surface 42c of the second finger 14 face each other. It is possible. Further, the first finger 13 and the second finger 14 can be bent (moved) so as to come into contact with the ventral surface 42c of the first finger 13 and the ventral surface 42c of the second finger 14.
  • the first finger 13 and the second finger 14 are not limited to the above-described configuration.
  • at least one of the first finger 13 and the second finger 14 may be able to be bent by pulling the internally extended wire and extended by pushing the wire.
  • at least one of the first finger 13 and the second finger 14 may be rotatable around a connection portion (connection shaft 53) with the first connection portion 21 or the second connection portion 22. It may be possible to move in parallel in the substantially X direction.
  • the drive mechanism 15 of the present embodiment has an actuator 61 and a transmission mechanism 62.
  • the actuator 61 is, for example, a servomotor.
  • the actuator 61 is not limited to this example, and may be another actuator such as a solenoid, a power cylinder, and a linear actuator.
  • the actuator 61 is attached to the housing 20.
  • the actuator 61 of the present embodiment has a drive shaft 61a extending in the substantially Z direction.
  • the actuator 61 can rotationally drive the drive shaft 61a around the central axis Axd of the drive shaft 61a.
  • the drive shaft 61a is arranged inside the housing 20.
  • the transmission mechanism 62 transmits a force between the actuator 61, the first finger 13, and the second finger 14.
  • the transmission mechanism 62 transmits a force between the actuator 61 and the second arm portion 44c of the rotating plate 44, so that at least one of the first finger 13 and the second finger 14 is transmitted. Can bend or stretch.
  • the transmission mechanism 62 of the present embodiment includes a drive component 71, an intermediate component 72, a first transmission component 73, a second transmission component 74, and a third transmission component 75.
  • the drive component 71 of this embodiment is formed in a disk shape substantially orthogonal to the central axis Axd.
  • the drive component 71 is not limited to this example, and may be formed in another shape.
  • the drive component 71 is attached to the drive shaft 61a of the actuator 61 and is arranged inside the housing 20.
  • the drive component 71 may be rotatably supported by another component. In this case, for example, the drive shaft 61a of the actuator 61 rotates the drive component 71 via various mechanisms.
  • the actuator 61 can selectively rotate and drive the drive shaft 61a and the drive component 71 in the first direction D1 and the second direction D2. In other words, the drive component 71 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 61 of this embodiment is electrically connected to the control unit 2.
  • the control unit 2 has a driver that controls the actuator 61. For example, when the control unit 2 applies a voltage to the terminal of the actuator 61, the actuator 61 rotationally drives the drive shaft 61a in the first direction D1 or the second direction according to the voltage.
  • the intermediate part 72 of this embodiment is a link formed in a substantially rod shape.
  • the intermediate part 72 may have another shape.
  • the intermediate part 72 has a first connecting portion 72a, a second connecting portion 72b, and a third connecting portion 72c.
  • the first connecting portion 72a is provided at one end of the intermediate component 72 in the longitudinal direction.
  • the second connecting portion 72b is provided at the other end of the intermediate component 72 in the longitudinal direction.
  • the third connecting portion 72c is provided substantially in the center between the first connecting portion 72a and the second connecting portion 72b. That is, the distance between the first connecting portion 72a and the third connecting portion 72c is substantially equal to the distance between the second connecting portion 72b and the third connecting portion 72c.
  • the positions of the first connecting portion 72a, the second connecting portion 72b, and the third connecting portion 72c are not limited to this example.
  • the first connecting portion 72a is closer to the first connecting portion 21 than the second connecting portion 22. In other words, the distance between the first connecting portion 72a and the first connecting portion 21 is shorter than the distance between the first connecting portion 72a and the second connecting portion 22. Further, the second connecting portion 72b is closer to the second connecting portion 22 than the first connecting portion 21.
  • the first transmission component 73, the second transmission component 74, and the third transmission component 75 may each include a single member, a plurality of links, chains, joints, or various other components.
  • the first transmission component 73, the second transmission component 74, and the third transmission component 75 each have a plurality of links connected to each other.
  • the first transmission component 73, the second transmission component 74, and the third transmission component 75 are schematically shown by an alternate long and short dash line.
  • the first transmission component 73, the second transmission component 74, and the third transmission component 75 may each have only one component.
  • Each of the first transmission component 73, the second transmission component 74, and the third transmission component 75 including the plurality of links can be bent by approaching both ends.
  • the first transmission component 73, the second transmission component 74, and the third transmission component 75 may be rigid bodies, respectively. Further, the first transmission component 73, the second transmission component 74, and the third transmission component 75 may each have a rigid body and a shrinkable mechanical component such as a cylinder.
  • first transmission component 73 One end of the first transmission component 73 is connected to the first connecting portion 72a of the intermediate component 72 inside the housing 20.
  • the other end of the first transmission component 73 is connected to the second arm 44c of the rotating plate 44 of the first finger 13 outside the housing 20. That is, the first transmission component 73 connects the intermediate component 72 and the first finger 13.
  • the first finger 13 is connected to the intermediate component 72 via the first transmission component 73.
  • the first finger 13 may be directly connected to the intermediate component 72.
  • the first transmission component 73 passes through the insertion port 20b of the housing 20 and extends to the inside and the outside of the housing 20.
  • One end of the second transmission component 74 is connected to the second connecting portion 72b of the intermediate component 72 inside the housing 20.
  • the other end of the second transmission component 74 is connected to the second arm 44c of the rotating plate 44 of the second finger 14 outside the housing 20. That is, the second transmission component 74 is connected to the intermediate component 72 at a position away from the first transmission component 73, and connects the intermediate component 72 and the second finger 14.
  • the second finger 14 is connected to the intermediate component 72 via the second transmission component 74.
  • the second finger 14 may be directly connected to the intermediate component 72.
  • the second transmission component 74 passes through the insertion port 20b of the housing 20 and extends to the inside and the outside of the housing 20.
  • One end of the third transmission component 75 is connected to the third connecting portion 72c of the intermediate component 72 inside the housing 20.
  • the other end of the third transmission component 75 is connected to the drive component 71 at a position away from the drive shaft 61a inside the housing 20. That is, the third transmission component 75 is connected to the intermediate component 72 at a position away from the first transmission component 73 and the second transmission component 74, and the intermediate component 72 and the actuator 61 are connected via the drive component 71. Connecting.
  • the actuator 61 may be directly connected to the intermediate component 72.
  • the intermediate component 72 of the present embodiment is rotatably connected to the third transmission component 75 around the central axis Axr of the third connecting portion 72c extending in the substantially Z direction. Further, the intermediate component 72 is placed in at least one of the X direction and the Y direction according to the tension acting on the intermediate component 72 from the first transmission component 73, the second transmission component 74, and the third transmission component 75. Can be displaced. Displacement is an example of movement. As shown in FIG. 3, the intermediate component 72 may move between the inside and the outside of the housing 20 through the insertion port 20b by moving in the Y direction.
  • the drive mechanism 15 bends or extends at least one of the first finger 13 and the second finger 14 as described below, for example.
  • the method in which the drive mechanism 15 bends or extends the first finger 13 and the second finger 14 is not limited to the method described below.
  • the actuator 61 rotates the drive component 71 in the first direction D1, so that the drive component 71 pulls the intermediate component 72 via the third transmission component 75. In this way, the actuator 61 can move the intermediate component 72.
  • the actuator 61 may be another actuator, such as a power cylinder, that produces a linear force rather than a rotational force.
  • the actuator 61 linearly moves the drive component 71, so that the drive component 71 pulls the intermediate component 72 via the third transmission component 75.
  • the type of the actuator 61 is not limited.
  • the intermediate component 72 pulled by the actuator 61 moves at least partially with respect to the first connecting portion 21 and the second connecting portion 22.
  • the intermediate component 72 is displaced in at least one of the X and Y directions.
  • the intermediate component 72 rotates around the central axis Axr of the third connecting portion 72c.
  • At least partial movement includes, for example, displacement, rocking, rotation, rotation, and deformation.
  • the distance between the intermediate component 72 and at least a part of the first connecting portion 21 changes.
  • the first connecting portion 72a of the intermediate component 72 is separated from the first connecting portion 21.
  • the intermediate component 72 pulls the second arm portion 44c of the rotating plate 44 of the first finger 13 via the first transmission component 73.
  • the intermediate component 72, the first transmission component 73, and the third transmission component 75 transmit a tensile force between the drive component 71 and the second arm portion 44c of the rotating plate 44.
  • the actuator 61 drives and bends the movable first finger 13.
  • the drive mechanism 15 bends the first finger 13 in response to at least a partial movement of the intermediate component 72 with respect to the first connection 21.
  • the intermediate component 72 moves at least partially with respect to the second connecting portion 22, the distance between the intermediate component 72 and at least a part of the second connecting portion 22 changes.
  • the second connecting portion 72b of the intermediate component 72 is separated from the second connecting portion 22.
  • the intermediate component 72 pulls the second arm portion 44c of the rotating plate 44 of the second finger 14 via the second transmission component 74.
  • the intermediate component 72, the second transmission component 74, and the third transmission component 75 transmit a tensile force between the drive component 71 and the second arm portion 44c of the rotating plate 44.
  • the actuator 61 drives and bends the movable second finger 14.
  • the drive mechanism 15 bends the second finger 14 in response to at least a partial movement of the intermediate component 72 with respect to the second connection 22.
  • the first finger 13 and the second finger 14 can bend (adapt) to the shape of the object O. That is, as shown in FIG. 4, the first finger 13 and the second finger 14 have the shape of the object O in contact with the first finger 13 and the second finger 14 according to the movement of the driving component 71. At least one of the plurality of joints (51-53) is bent according to the above. Therefore, the contact portion between the first finger 13 and the second finger 14 and the object O increases, and the first finger 13 and the second finger 14 stably grip (grasp, grip) the object O. can do.
  • the drive component 71 brings the intermediate component 72 closer to the first connection portion 21 and the second connection portion 22.
  • the first connecting portion 72a of the intermediate component 72 approaches the first connecting portion 21, and the second connecting portion 72b of the intermediate component 72 approaches the second connecting portion 22.
  • the tensile force acting on the first finger 13 and the second finger 14 is released or reduced, and for example, the restoring force of at least one of the elastic bodies 58 and 59 causes the first finger 13 and the second finger 14 to be released. Extends.
  • FIG. 5 is a plan view schematically showing a second example of the hand device 10 for gripping the object O of the first embodiment. As shown in FIG. 5, the hand device 10 picks the object O by the ventral surface 42c of the second portion 42 of the first finger 13 and the ventral surface 42c of the second portion 42 of the second finger 14. be able to.
  • the first finger 13 and the second finger 14 have a second portion 42 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. And the third portion 43 is extended without bending. In this case, the first finger 13 and the second finger 14 exert a force on the object O in a stable manner. Therefore, the hand device 10 can stably hold the object O like a tong by pinching the object O with the second portion 42 of the first finger 13 and the second finger 14.
  • the object O is located substantially in the center between the first finger 13 and the second finger 14 in the X direction.
  • the intermediate component 72 extends in the substantially X direction and is located substantially in the center between the first connecting portion 21 and the second connecting portion 22 in the X direction.
  • the distance between the intermediate component 72 and the first connecting portion 21 and the distance between the intermediate component 72 and the second connecting portion 22 are Approximately equal.
  • the positions of the intermediate parts 72 shown in FIGS. 4 and 5 are examples of the second positions.
  • the distance between the first connecting portion 72a and the first connecting portion 21 and the distance between the second connecting portion 72b and the second connecting portion 22 It is almost equal to the distance between them. Therefore, the bending method (movement amount) of the first finger 13 and the bending method (movement amount) of the second finger 14 are substantially equal. Therefore, the first finger 13 and the second finger 14 exhibit substantially mirror-symmetrical shapes.
  • FIG. 6 is a plan view schematically showing a third example of the hand device 10 for gripping the object O of the first embodiment. As shown in FIG. 6, when the first finger 13 and the second finger 14 grip the object O, the object O is from the center between the first finger 13 and the second finger 14 in the X direction. It may be arranged unevenly.
  • the second portion 42 and the third portion 43 of the second finger 14 When the second portion 42 and the third portion 43 of the second finger 14 are separated from the object O, the second portion 42 and the third portion 43 can be bent. In this case, the second connecting portion 72b of the intermediate component 72 can move with respect to the second connecting portion 22. However, when the second finger 14 is in contact with the object O and the first finger 13 is away from the object O, the first connecting portion 72a of the intermediate component 72 moves more than the second connecting portion 72b. be able to.
  • the actuator 61 further pulls the intermediate part 72 while the second finger 14 is in contact with the object O. Since the first connecting portion 72a moves more than the second connecting portion 72b, the intermediate component 72 pulled by the actuator 61 rotates around the central axis Axr of the third connecting portion 72c. As a result, the first connecting portion 72a is further separated from the first connecting portion 21.
  • the intermediate part 72 before rotation is shown by a chain double-dashed line, and the rotated intermediate part 72 is shown by a solid line.
  • the first finger 13 is further rotated (bent).
  • the first finger 13 comes into contact with the object O, the movement of the first finger 13 is stopped, or the movement of the first finger 13 is slowed down due to the resistance from the object O. Therefore, the rotation of the intermediate component 72 is stopped or slowed down.
  • the actuator 61 pulls the intermediate component 72 the intermediate component 72 can move in an inclined state as shown in FIG.
  • the second portion 42 and the third portion 43 of the first finger 13 are separated from the object O, the second portion 42 and the third portion 43 can be bent.
  • the first connecting portion 72a of the intermediate component 72 can move with respect to the first connecting portion 21.
  • the actuator 61 is stopped.
  • the object O is located at a position different from the center between the first finger 13 and the second finger 14 in the X direction.
  • the object O is located at a position different from the center between the first connecting portion 21 and the second connecting portion 22 in the X direction.
  • the intermediate component 72 extends in a direction inclined with respect to the X direction, and is located at a position different from the center between the first connecting portion 21 and the second connecting portion 22 in the X direction.
  • the intermediate component 72 may be located substantially at the center between the first connecting portion 21 and the second connecting portion 22 in the X direction as long as it extends in a direction inclined with respect to the X direction.
  • the intermediate component 72 may extend in the X direction as long as it is located at a position different from the center between the first connecting portion 21 and the second connecting portion 22 in the X direction. Further, depending on the state of the first finger 13 and the second finger 14, the intermediate component 72 is located substantially in the center between the first connecting portion 21 and the second connecting portion 22 in the X direction and is substantially abbreviated. It may extend in the X direction.
  • the distance between the intermediate component 72 and the first connecting portion 21 is different from the distance between the intermediate component 72 and the second connecting portion 22.
  • the position of the intermediate component 72 shown in FIG. 6 is an example of the first position.
  • the distance between the intermediate component 72 and the first connecting portion 21 is longer than the distance between the intermediate component 72 and the second connecting portion 22.
  • the distance between the intermediate component 72 and the first connecting portion 21 may be shorter than the distance between the intermediate component 72 and the second connecting portion 22.
  • the distance between the first connecting portion 72a and the first connecting portion 21 and the distance between the second connecting portion 72b and the second connecting portion 22. Is different. Therefore, the bending method (movement amount) of the first finger 13 and the bending method (movement amount) of the second finger 14 are different. Therefore, the first finger 13 and the second finger 14 exhibit an asymmetrical shape with respect to the virtual surface P orthogonal to the virtual line connecting the first connecting portion 21 and the second connecting portion 22.
  • the first finger 13 or the second finger 14 that first contacts the object O may move the object O toward the substantially center between the first finger 13 and the second finger 14.
  • the damage to the object O is suppressed by substantially stopping the first finger 13 or the second finger 14 that has come into contact with the object O first.
  • the intermediate part 72 can be moved to the position exemplified in FIG. 6 (first position) and the position exemplified in FIGS. 4 and 5 (second position).
  • the hand device 10 can provide a difference in the bending method between the first finger 13 and the second finger 14.
  • the intermediate component 72 is, for example, an intermediate component from the first transmission component 73, the second transmission component 74, and the third transmission component 75.
  • the tension acting on 72 moves to a balanced position. That is, the position of the intermediate part 72 and the bending method of the first finger 13 and the second finger 14 are, for example, the position, shape, hardness, and weight of the object O, and the first finger 13 and the second finger. It can be automatically adjusted according to various conditions such as the shape, hardness, weight, and posture of the finger 14 and the driving force of the actuator 61. 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 is connected to the first connecting portion 21 of the base 12, and the second finger 14 is connected to the second connecting portion 22 of the base 12. Is connected.
  • the drive mechanism 15 moves the first finger 13 in response to at least partial movement of the intermediate component 72 with respect to the first connection portion 21, and in response to at least partial movement of the intermediate component 72 with respect to the second connection portion 22.
  • the intermediate component 72 can be moved to a position where the distance between the intermediate component 72 and the first connecting portion 21 is different from the distance between the intermediate component 72 and the second connecting portion 22 (example of FIG. 6). ..
  • the hand device 10 of the present embodiment the movement of the first finger 13 caused by the change in the distance between the intermediate component 72 and the first connecting portion 21, and the intermediate component 72 and the second connecting portion 22 It is possible to make a difference from the movement of the second finger 14 caused by the change in the distance between them. Therefore, the hand device 10 can stably grip the object O located at a position different from the center between the first finger 13 and the second finger 14 which are close to each other. Since it is possible to adjust the movements of the first finger 13 and the second finger 14, for example, the position control of the hand device 10 with respect to the object O becomes easy.
  • the hand device 10 can stably grip the object O even if the position of the hand device 10 with respect to the object O is unstable.
  • the intermediate component 72 moves to a position where the distance between the intermediate component 72 and the first connecting portion 21 is equal to the distance between the intermediate component 72 and the second connecting portion 22 (examples of FIGS. 4 and 5). It is possible. That is, the hand device 10 of the present embodiment can make the movement of the first finger 13 equal to the movement of the second finger 14. As a result, the hand device 10 can grip the object O in the center between the first finger 13 and the second finger 14. Therefore, for example, the position control of the hand device 10 with respect to the object O becomes easy.
  • At least one of the first finger 13 and the second finger 14 has a plurality of joints (connection shafts 51 to 53), and the shape of the object O in contact with the fingers is adapted to the shape of the plurality of joints. Turn at least one of them. As a result, at least one of the first finger 13 and the second finger 14 bends so as to wrap the object O, and the first finger 13 and the second finger 14 grip the object O more stably. Can be done.
  • the drive mechanism 15 is connected to the first transmission component 73 that connects the intermediate component 72 and the first finger 13 and the intermediate component 72 at a position away from the first transmission component 73, and is connected to the intermediate component 72 and the second.
  • the second transmission component 74 that connects the fingers 14 of the device is connected to the intermediate component 72 at a position away from the first transmission component 73 and the second transmission component 74, and the intermediate component 72 and the actuator are connected to each other. It has 3 transmission parts 75 and 3.
  • the intermediate component 72 is rotatably connected to the third transmission component 75, and the second connecting portion 22 is movable in the X direction away from the first connecting portion 21.
  • the intermediate component 72 the distance between the first connecting portion 72a and the first connecting portion 21 changes, and the distance between the second connecting portion 72b and the second connecting portion 22 changes. It is rotatable. Further, in the intermediate component 72, the distance between the first connecting portion 72a and the first connecting portion 21 changes, and the distance between the second connecting portion 72b and the second connecting portion 22 changes. It can be displaced. As a result, the intermediate component 72 is rotated and displaced by the force acting on the intermediate component 72 from the actuator 61, the first finger 13, and the second finger 14. The drive mechanism 15 moves at least one of the first finger 13 and the second finger 14 according to the rotation and displacement of the intermediate component 72. Therefore, the drive mechanism 15 automatically moves the first finger 13 and the second finger 14 according to, for example, the driving force of the actuator 61 and the shape and position of the object O gripped by the hand device 10. Can be adjusted.
  • FIG. 7 is a plan view schematically showing a first example of the hand device 10 for gripping the object O according to the second embodiment. As shown in FIG. 7, the hand device 10 of the second embodiment further includes a stopper 81.
  • the stopper 81 is attached to the housing 20 so as to be rotatable around the central axis Axc extending in the X direction, for example. As a result, the stopper 81 can be moved to the two positions Pr and Pf. The stopper 81 may be attached to the housing 20 so as not to rotate.
  • the stopper 81 at position Pr projects in the Y direction from the end 20a of the housing 20.
  • the stopper 81 at position Pr can come into contact with the first portion 41 of the first finger 13.
  • the instep of the first finger 13 comes into contact with the stopper 81.
  • the first finger 13 is located between the stopper 81 and the second finger 14.
  • the stopper 81 at position Pr restricts the first finger 13 from moving away from the second finger 14 and the second connecting portion 22.
  • the elastic body 58 urges the first finger 13 extending in the Y direction further away from the second finger 14 and the second connecting portion 22.
  • the stopper 81 at the position Pr supports the first finger 13 and stops the movement of the first finger 13 in the direction away from the second finger 14 and the second connecting portion 22.
  • FIG. 7 virtually shows the stopper 81 at the position Pf with a chain double-dashed line.
  • the spring constant of the elastic body 58 of the second finger 14 is different from the spring constant of the elastic body 58 of the first finger 13.
  • the spring constant of the elastic body 58 of the second finger 14 of the present embodiment is smaller than the spring constant of the elastic body 58 of the first finger 13. Therefore, when the actuator 61 pulls the first finger 13 and the second finger 14 via the transmission mechanism 62, the second finger 14 bends before the first finger 13. In other words, the elastic body 58 of the second finger 14 urges the second finger 14 so that the second finger 14 bends before the first finger 13 in response to the movement of the intermediate part 72.
  • the spring constant of the elastic body 58 of the first finger 13 and the spring constant of the elastic body 58 of the second finger 14 may be the same.
  • the stopper 81 may be provided with a fixing portion 82 such as a hook or a band for fixing the position of the first finger 13.
  • the hand device 10 grips the object O when the stopper 81 is at the position Pr.
  • the method by which the hand device 10 grips the object O is not limited to the method described below.
  • the hand device 10 grips the object O as in the first embodiment.
  • the position of the hand device 10 with respect to the object O is adjusted.
  • the hand device 10 is arranged at a position where the first finger 13 extended in the Y direction comes into contact with the object O.
  • the stopper 81 supports the first finger 13 and suppresses the movement of the first finger 13 by gravity or inertia. Therefore, the relative position adjustment between the first finger 13 and the object O can be easily performed.
  • the intermediate component 72 pulled by the actuator 61 moves, so that the intermediate component 72 is separated from the first connecting portion 21 and the second connecting portion 22.
  • the spring constant of the elastic body 58 of the first finger 13 and the spring constant of the elastic body 58 of the second finger 14 are different as described above, the second finger 14 rotates around the connecting shaft 53 ( Bend), but the first finger 13 is stopped. The second finger 14 comes into contact with the object O by bending.
  • the second portion 42 and the third portion 43 can be bent.
  • the intermediate component 72 moves with respect to the first connecting portion 21 and the second connecting portion 22, and the second portion 42 and the third portion 43 adapt (adapt) to the shape of the object O. Bend.
  • FIG. 8 is a plan view schematically showing a second example of the hand device 10 for gripping the object O of the second embodiment.
  • the hand device 10 of the second embodiment also has a ventral surface 42c of the second portion 42 of the first finger 13 and a ventral surface 42c of the second portion 42 of the second finger 14. , The object O can be picked.
  • the intermediate component 72 extends in a direction inclined with respect to the X direction, and / or is at a position different from the center between the first connecting portion 21 and the second connecting portion 22 in the X direction. ..
  • the distance between the intermediate component 72 and the first connecting portion 21 is different from the distance between the intermediate component 72 and the second connecting portion 22.
  • the positions of the intermediate parts 72 shown in FIGS. 7 and 8 are examples of the first positions.
  • the intermediate component 72 may be, for example, the first transmission component 73, the second transmission component 74, and the second transmission component 74.
  • the tension acting on the intermediate component 72 from the transmission component 75 of 3 moves to a position where the tension can be balanced. That is, the position of the intermediate part 72 and the bending of the first finger 13 and the second finger 14 can be automatically adjusted.
  • the stopper 81 restricts the first finger 13 from moving away from the second connecting portion 22. As a result, the stopper 81 can hold the posture of the first finger 13. Therefore, for example, the position between the first finger 13 and the object O gripped by the hand device 10 can be easily adjusted.
  • the elastic bodies 58 and 59 of the first finger 13 urge the first finger 13 so that the first finger 13 extends.
  • the elastic bodies 58 and 59 of the second finger 14 urge the second finger 14 so that the second finger 14 extends.
  • the elastic bodies 58 and 59 of the second finger 14 urge the second finger 14 so that the second finger 14 moves before the first finger 13 in response to the movement of the intermediate part 72. That is, the first finger 13 is held in a posture by the stopper 81 and moves after the second finger 14. Therefore, for example, the position between the first finger 13 and the object O gripped by the hand device 10 can be easily adjusted.
  • the fixing portion 82 fixes the position of the first finger 13. As a result, for example, the movement of the first finger 13 in the direction away from the second finger 14 and the second connecting portion 22 can be easily stopped, and the movement of the first finger 13 and the second finger can be stopped. It becomes easy to control the movements of 14.
  • FIG. 9 is a perspective view schematically showing the hand device 10 according to the third embodiment.
  • FIG. 9 schematically shows each element excluding the mechanism for moving the first finger 13 and the second finger 14 by a chain double-dashed line.
  • the hand device 10 of the third embodiment has a plurality of second fingers 14.
  • the hand device 10 of the third embodiment may have a plurality of first fingers 13. Further, the hand device 10 may have a plurality of first fingers 13 and a plurality of second fingers 14.
  • the plurality of second fingers 14 are connected to the second connecting portion 22 as in the first embodiment and the second embodiment.
  • the plurality of second fingers 14 have the same shape and the same function as each other.
  • the plurality of second fingers 14 may have different shapes and / or different functions from each other.
  • Each of the plurality of second fingers 14 can move (bend) toward the first finger 13.
  • the postures of the plurality of first fingers and the plurality of second fingers 14 may be adjusted by the elastic bodies 58, 59 or the stopper 81 as in the first embodiment and the second embodiment.
  • the hand device 10 of the present embodiment has two second fingers 14.
  • the number of the second fingers 14 is not limited to this example.
  • the two second fingers 14 are separated from each other in the Z direction.
  • the first finger 13 is located between the two second fingers 14.
  • the first finger 13 and the second finger 14 can bend without interfering with each other. That is, the first finger 13 and the plurality of second fingers 14 are arranged at different positions in the Z direction.
  • the first finger 13 and at least one of the two second fingers 14 may face each other.
  • the second transmission component 74 of the transmission mechanism 62 has a coupling component 101, a transmission component 102, and two transmission components 103.
  • the number of transmission parts 103 is not limited to this example, and corresponds to the number of second fingers 14.
  • the coupling part 101 of the present embodiment is a rod-shaped link extending in the substantially Z direction.
  • the coupling part 101 may have another shape.
  • Each of the transmission components 102 and 103 is, for example, a ball chain.
  • the transmission components 102, 103 may each include a single member, a plurality of links, chains, joints, or various other components.
  • the first transmission component 73 and the third transmission component 75 are also ball chains.
  • the transmission component 102 connects the second connecting portion 72b of the intermediate component 72 and the connecting component 101.
  • the transmission component 102 is connected, for example, to approximately the center of the coupling component 101.
  • Each of the two transmission parts 103 connects the connecting part 101 and the second arm portion 44c of the rotating plate 44 of the second finger 14.
  • the transmission component 103 is connected to, for example, both ends of the coupling component 101. That is, the connection portion between the transmission component 102 and the coupling component 101 is located between the connection portions between the two transmission components 103 and the coupling component 101.
  • the second transmission component 74 connects the intermediate component 72 and the two second fingers 14 in parallel.
  • the second transmission component 74 is not limited to this example as long as the force can be transmitted between the intermediate component 72 and the second finger 14.
  • the plurality of second fingers 14 move as follows, for example.
  • the actuator 61 rotates the drive component 71 in the first direction D1, so that the drive component 71 pulls the intermediate component 72 via the third transmission component 75.
  • the intermediate component 72 pulled by the actuator 61 moves at least partially with respect to the first connecting portion 21 and the second connecting portion 22.
  • the distance between the intermediate component 72 and at least a part of the second connecting portion 22 changes.
  • the second connecting portion 72b of the intermediate component 72 is separated from the second connecting portion 22.
  • the intermediate component 72 pulls the second arm portion 44c of the rotating plate 44 of the plurality of second fingers 14 in parallel via the second transmission component 74.
  • the plurality of second fingers 14 bend.
  • the coupling part 101 moves to a position different from the center between the two second fingers in the Z direction, and rotates so as to extend in a direction inclined with respect to the Z direction.
  • the plurality of second fingers 14 can bend to fit the shape of the object O and can grip the object O, for example.
  • the connecting component 101 may be located substantially at the center between the two fingers 14 in the Z direction as long as it extends in a direction inclined with respect to the Z direction.
  • the connecting part 101 may extend in the Z direction as long as it is located at a position different from the center between the two second fingers 14 in the Z direction. Further, depending on the state of the two second fingers 14, the connecting part 101 may be located substantially in the center between the two second fingers 14 and extend in the substantially Z direction.
  • the hand device 10 of the second embodiment described above has a plurality of first fingers 13 connected to the first connecting portion 21 and a plurality of second fingers connected to the second connecting portion 22. It has at least one of 14. As a result, the object O can be gripped stably.
  • the second transmission component 74 connects the intermediate component 72 and the plurality of second fingers 14 in parallel.
  • the hand device 10 may have, for example, a plurality of transmission mechanisms 62 for connecting the actuator 61, the plurality of first fingers 13 and the plurality of second fingers 14 in parallel.
  • the expression (including similar expressions) of "at least one (one) of a, b and c" or "at least one (one) of a, b or c" is used. When used, it includes any of a, b, c, ab, ac, bc, or abc. It may also include multiple instances of any element, such as a-a, a-b-b, a-a-b-b-c-c, and the like. It also includes adding elements other than the listed elements (a, b and c), such as having d, such as a-b-c-d.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2021/000560 2020-01-14 2021-01-08 ハンド装置 Ceased WO2021145290A1 (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021571176A JP7539930B2 (ja) 2020-01-14 2021-01-08 ハンド装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020003957 2020-01-14
JP2020-003957 2020-01-14

Publications (1)

Publication Number Publication Date
WO2021145290A1 true WO2021145290A1 (ja) 2021-07-22

Family

ID=76864421

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/000560 Ceased WO2021145290A1 (ja) 2020-01-14 2021-01-08 ハンド装置

Country Status (2)

Country Link
JP (1) JP7539930B2 (https=)
WO (1) WO2021145290A1 (https=)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002045918A1 (en) * 2000-12-06 2002-06-13 Honda Giken Kogyo Kabushiki Kaisha Multi-finger hand device
JP2016168645A (ja) * 2015-03-12 2016-09-23 株式会社岩田鉄工所 多指ハンド装置
JP2018167378A (ja) * 2017-03-30 2018-11-01 ダブル技研株式会社 人間型ハンドにおける手首の回転構造

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002045918A1 (en) * 2000-12-06 2002-06-13 Honda Giken Kogyo Kabushiki Kaisha Multi-finger hand device
JP2016168645A (ja) * 2015-03-12 2016-09-23 株式会社岩田鉄工所 多指ハンド装置
JP2018167378A (ja) * 2017-03-30 2018-11-01 ダブル技研株式会社 人間型ハンドにおける手首の回転構造

Also Published As

Publication number Publication date
JP7539930B2 (ja) 2024-08-26
JPWO2021145290A1 (https=) 2021-07-22

Similar Documents

Publication Publication Date Title
JP6811267B2 (ja) 柔軟劣駆動把持具
JP5388966B2 (ja) 手首関節アセンブリ、及び人間型ロボット
JP7402882B2 (ja) 背面支持されるアクチュエータ機構を備えるロボットエンドエフェクタ
CA2964199C (en) Mechanical finger for grasping apparatus
US8910984B2 (en) Robot hand and robot
JPH04501682A (ja) クラッチ機構
CN107530887A (zh) 顺应性自适应机器人抓握器
JP7009072B2 (ja) 指機構およびこの指機構を組み込んだ人間型ハンド
JP2009291853A (ja) ロボット用ハンド
CN117917314B (zh) 一种欠驱动耦合自适应机械手指
CN107984484B (zh) 末端精确补偿直线平夹自适应机器人手指装置
JP2019063886A (ja) ロボットハンドの指の駆動機構、および、その駆動機構を具備する指を備えるロボットハンド
JP2001277174A (ja) 指関節機構及びそれを用いた把持ユニット
CN114083565A (zh) 一种面向灵活操作的自适应三指手
JP2016168645A (ja) 多指ハンド装置
CN117944079B (zh) 一种柔性自适应欠驱动机械手指
WO2021145290A1 (ja) ハンド装置
WO2021141024A1 (ja) ロボットハンド
CN120326649A (zh) 一种具有可变形手掌的机器人灵巧手
JP7620566B2 (ja) 複数の指を持つ機構及び装置
JP7831825B2 (ja) ロボットハンド装置及びロボットハンド動作方法
JP2021167038A (ja) ロボットハンド及びロボット
Hsu et al. Robot finger with remote center of motion mechanism for covering joints with thick skin
JP2022182200A (ja) ハンド装置
Kok et al. Design and evaluation of an underactuated adaptive finger for parallel grippers

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21741849

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021571176

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21741849

Country of ref document: EP

Kind code of ref document: A1