WO2022137747A1 - ハンド機構、ロボットハンド及びロボット - Google Patents

ハンド機構、ロボットハンド及びロボット Download PDF

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Publication number
WO2022137747A1
WO2022137747A1 PCT/JP2021/037871 JP2021037871W WO2022137747A1 WO 2022137747 A1 WO2022137747 A1 WO 2022137747A1 JP 2021037871 W JP2021037871 W JP 2021037871W WO 2022137747 A1 WO2022137747 A1 WO 2022137747A1
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WO
WIPO (PCT)
Prior art keywords
finger
link
hand mechanism
tip
mechanism according
Prior art date
Application number
PCT/JP2021/037871
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English (en)
French (fr)
Japanese (ja)
Inventor
雄希 松尾
史朗 佐久間
Original Assignee
東京ロボティクス株式会社
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 東京ロボティクス株式会社 filed Critical 東京ロボティクス株式会社
Publication of WO2022137747A1 publication Critical patent/WO2022137747A1/ja

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    • 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
    • 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
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the present invention relates to a hand mechanism, for example, a robot hand mechanism arranged at the tip of a robot's arm or the like.
  • Patent Document 1 is provided with a thumb portion that is controlled so as to be swiveled or bent around the hand body portion with respect to the side surface of the hand body portion corresponding to the palm portion, with respect to the tip end portion of the hand body portion.
  • a hand mechanism provided with an operating finger and an auxiliary finger controlled to be bent.
  • the mechanism of the robot hand is , It is preferable that it is an appropriate model of the complicated human hand mechanism. If this modeling is inappropriate, the movement of the robot hand may not intuitively correspond to the movement of the human hand, or the movement may feel strange.
  • the present invention has been made in view of the above-mentioned technical background, and an object thereof is to provide a hand mechanism or the like capable of intuitively realizing a human-like operation.
  • the hand mechanism according to the present invention is a hand mechanism including a palm portion, a first finger extending from the side portion of the palm portion, and a tip finger extending from the tip of the palm portion.
  • the first finger is axially supported with respect to the palm portion and swings about a first axis substantially parallel to the extension direction of the tip finger, and an axis with respect to the first link. It is provided with a second link that is supported and swings around a second axis that is slightly tilted from a direction perpendicular to the first axis.
  • the first axis which is the swing center axis of the first axis
  • the second axis which is the swing center axis of the second link
  • the first axis may be further arranged parallel to the palm portion.
  • the first finger can be swiveled around the palm like a human.
  • It may be further provided with a third link that is pivotally supported by the second link and swings around a third axis perpendicular to the second axis.
  • the swing center axis of the second link and the swing center axis of the third link are orthogonal to each other, it can operate in a human-like manner.
  • It may be further provided with a fourth link that is pivotally supported by the third link and swings in conjunction with the third link.
  • the first finger may be configured to face the tip surface of the bent tip finger by bending.
  • the object can be gripped between the tip finger and the first child by bending.
  • the first drive unit that drives the first link may be one that is supported by the palm portion.
  • the finger can be miniaturized and other mechanisms such as a sensor can be stored in the finger.
  • the second drive unit that drives the second link may be one that is supported by the first link.
  • the portion from the second link toward the tip can be miniaturized, or another mechanism such as a sensor can be stored in the portion. can.
  • the third drive unit that drives the third link and the fourth link may be one that is supported by the second link.
  • the portion from the third link toward the tip can be miniaturized, or another mechanism such as a sensor can be stored in the portion. can.
  • the first drive unit may be driven by using a ball screw.
  • the second drive unit may be driven by using a ball screw.
  • the third drive unit may be driven by using a ball screw.
  • Each of the tip fingers may have a four-node link structure that bends or extends in conjunction with the tip finger drive unit arranged in the palm portion.
  • the tip finger can be miniaturized and other mechanisms such as a sensor can be stored in the tip finger.
  • the tip finger drive unit may be driven by using a ball screw.
  • the tip finger may be a three finger consisting of a second finger, a third finger and a fourth finger.
  • the object can be grasped so as to wrap it with three fingers.
  • the rotation axis of the base portion of the third finger to the palm portion is sharp with the rotation axis of the base portion of the second finger to the palm portion and the rotation axis of the base portion of the fourth finger to the palm portion. It may be something that is doing.
  • the object can be grasped so as to wrap the object with three fingers in a human-like manner.
  • the present invention can also be thought of as a robot hand equipped with the above-mentioned hand mechanism.
  • the present invention can also be thought of as a robot equipped with the above-mentioned hand mechanism.
  • FIG. 1 is a front view of the robot hand.
  • FIG. 2 is a right side view of the robot hand.
  • FIG. 3 is a front view of the robot hand in the closed state.
  • FIG. 4 is a perspective view for explaining the configuration around the first joint portion.
  • FIG. 5 is an explanatory diagram showing the state of rotation around the first rotation axis.
  • FIG. 6 is an explanatory diagram showing the operating principle of the first drive unit.
  • FIG. 7 is a schematic diagram showing the first drive unit in a simplified manner.
  • FIG. 8 is a perspective view for explaining the configuration around the second joint portion.
  • FIG. 9 is an explanatory diagram showing the state of rotation around the second rotation axis.
  • FIG. 10 is an explanatory diagram showing the operating principle of the second drive unit.
  • FIG. 1 is a front view of the robot hand.
  • FIG. 2 is a right side view of the robot hand.
  • FIG. 3 is a front view of the robot hand in the closed state.
  • FIG. 4
  • FIG. 11 is a schematic diagram showing a simplified second drive unit.
  • FIG. 12 is an explanatory diagram regarding the arrangement of the first to third rotation axes.
  • FIG. 13 is a perspective view for explaining the configuration of the third joint portion and the fourth joint portion.
  • FIG. 14 is an explanatory diagram showing the state of rotation around the third rotation axis and the fourth rotation axis.
  • FIG. 15 is an explanatory diagram showing the operating principle of the third drive unit.
  • FIG. 16 is a schematic diagram showing a simplified third drive unit.
  • FIG. 17 is a perspective view of the third finger of the robot hand.
  • FIG. 18 is an explanatory diagram for explaining the operating principle of the third finger.
  • FIG. 1 is a front view of the robot hand 500 in a completely open state
  • FIG. 2 is a right side view of the robot hand 500 in the same state.
  • the open state means a state in which all the joints provided in the robot hand 500 are in the extended state.
  • the closed state means a state in which some or all the joints provided in the robot hand 500 are bent.
  • the robot hand 500 mainly includes a palm portion 9 having a substantially rectangular parallelepiped shape. From the right side surface of the palm portion 9, the first finger 1 corresponding to the first finger (thumb) of the human hand extends. From the upper surface or the tip of the palm portion 9, in order from the side of the first finger 1, it corresponds to the second finger 6 corresponding to the second finger (indicator) of the human hand and the third finger (middle finger) of the human hand. The third finger 7 and the fourth finger 8 corresponding to the fourth finger (medicine finger) of the human hand extend.
  • An instep cover 91 that covers the range from the entire instep to the side surface is attached to the back side of the palm portion 9, that is, the instep side of the robot hand 500. Further, on the front side of the palm portion 9, a palm portion cover 92 having a substantially keyhole shape, which is used for connecting to the tip end portion of an arm (not shown) and covers almost the entire palm portion, is provided.
  • the first finger 1 is configured by connecting the first link 111, the second link 112, the third link 113, and the fourth link 114 in order so as to extend from the side portion of the palm portion 9. It should be noted that the first link 111 and the second link 112 are not shown in the figure because they are covered by the first finger cover 199.
  • the first finger 1 is in order from the palm portion 9 side toward the tip of the finger, the first joint portion 121 (corresponding to the so-called CM joint), the second joint portion 122, and the third joint portion 123 (so-called MP joint). Correspondingly), and has four joints of the fourth joint 124.
  • the three joints of the first joint portion 121, the second joint portion 122, and the third joint portion 123 have the first rotation axis 101, the second rotation axis 102, and the third rotation axis 103, respectively. It actively rotates as a center, and the remaining fourth joint 124 passively rotates. That is, these structures enable operations such as bending a finger to grip an object.
  • the second finger 6 is configured by connecting the first link 611, the second link 612, and the third link 613 in order so as to extend from the tip of the palm portion 9.
  • the second finger 6 has three joint portions, that is, the first joint portion 621 (corresponding to the so-called MP joint), the second joint portion 622, and the third joint portion 623, in order from the palm portion 9 side toward the tip of the finger. It is equipped with. Among them, the first joint portion 621 actively rotates around the first rotation shaft 601 and the remaining second joint portion 622 and the third joint portion 623 passively rotate. That is, these structures enable operations such as bending a finger to grip an object.
  • the third finger 7 is configured by connecting the first link 711, the second link 712, and the third link 713 in order so as to extend from the tip of the palm portion 9.
  • the third finger 7 has three joints, that is, the first joint 721 (corresponding to the so-called MP joint), the second joint 722, and the third joint 723, in order from the palm 9 side toward the tip of the finger. It is equipped with. Among them, the first joint portion 721 actively rotates around the first rotation shaft 701, and the remaining second joint portion 722 and the third joint portion 723 passively rotate. That is, these structures enable operations such as bending a finger to grip an object.
  • the fourth finger 8 is configured by connecting the first link 811, the second link 812, and the third link 813 in order so as to extend from the tip of the palm portion 9.
  • the fourth finger 8 has three joints, that is, the first joint 821 (corresponding to the so-called MP joint), the second joint 822, and the third joint 823, in order from the palm 9 side toward the tip of the finger. It is equipped with. Among them, the first joint portion 821 actively rotates around the first rotation shaft 801 and the remaining second joint portion 822 and the third joint portion 823 passively rotate. That is, these structures enable operations such as bending a finger to grip an object.
  • the rotating shafts 801 are not parallel to each other but have sharp angles with each other. That is, in the figure, although the first rotation axis 701 of the third finger 7 is parallel to the surface on the base side of the palm portion 9, the first rotation axis 601 of the second fingers 6 on the left and right thereof And the first rotation axis 801 of the fourth finger 8 are arranged evenly on the left and right sides with a slight inclination toward the side.
  • the robot hand 500 having the above joints and links can be opened and closed by rotating the joints.
  • FIG. 3 is a front view of the robot hand 500 in a completely closed state. As shown in the figure, by bending the first finger 1, the second finger 6, the third finger 7, and the fourth finger 8, the fingertips can be brought close to each other so as to grip the desired object.
  • the tip of the first finger 1 is drawn so as to be substantially perpendicular to the tip of the second finger 6, the tip of the third finger 7, and the tip of the fourth finger 8.
  • the tip of the first finger 1 is made to face each finger, that is, the tip of the second finger 6, the tip of the third finger 7, and the tip of the fourth finger 8. be able to.
  • FIG. 4 is a perspective view for explaining the configuration around the first joint portion 121.
  • covers such as the instep cover 91 and the first finger cover 199, and other fingers and the like are not shown.
  • a frame member 901 having the first drive shaft 131 as one side is provided in the substantially center of the palm portion 9.
  • the first finger 1 is supported by the palm portion 9.
  • the first drive shaft 131 brings the first rotation shaft 101.
  • a substantially cylindrical first servomotor 135 is arranged in the center of the frame member 901, and its output rotation axis protrudes from a hole provided on the left side surface of the frame member 901.
  • a small-diameter first spur gear 136 is attached to the tip of the protruding output rotating shaft.
  • a first screw shaft 138 constituting a ball screw is arranged in parallel with the longitudinal direction of the first servomotor 135.
  • One end of the first screw shaft 138 is pivotally supported together with one end of the first servomotor 135, while the other end protrudes from the hole on the left side surface.
  • a second spur gear 137 having a relatively large diameter is attached to the end of the protruding first screw shaft 138 so as to mesh with the first spur gear 136 having a small diameter.
  • a first nut member 139 is slidably attached to the first screw shaft 138 so as to form a ball screw. As will be described later, the first nut member 139 is connected to the first link 111 via the first transmission link 140 that transmits the driving force.
  • a series of members from the first servomotor 135 to the first transmission link 140 may be referred to as a first drive unit.
  • the first drive unit that rotates the first joint portion 121 is supported by the palm portion 9.
  • the palm portion 9 As a result, it is possible to reduce the size of the first finger 1 and secure a space for storing a mechanism such as a sensor in the first finger 1.
  • the first link 111 is pivotally supported so as to rotate about the first drive shaft 131, that is, the first rotation shaft 101, and freely rotates by receiving a driving force from the first servomotor 135.
  • An absolute encoder 132 for detecting the rotation angle of the first drive shaft 131 is arranged at the upper end of the first drive shaft 131.
  • FIG. 5 is an explanatory diagram showing the state of rotation around the first rotation axis 101.
  • FIG. 5A shows the state of the robot hand 500 when the first link is at the position of 45 °
  • FIG. 5B shows the state of the robot hand when the first link is at the position of 90 °. It shows the state of 500.
  • the angle of the first link 111 when it is in a completely open state is set to 0 °.
  • FIG. 6 is an explanatory diagram showing the operating principle of the first drive unit.
  • the first transmission link 140 is pivotally supported with respect to the first nut member 139 via the first shaft member 141 so as to be slidable in a direction perpendicular to the first screw shaft (translation). Restraint). As a result, the first transmission link 140 also moves in the direction perpendicular to the first screw shaft 138 in accordance with the translational motion.
  • the first transmission link 140 that moves two-dimensionally is rotatably connected to the first link 111 via the second shaft member, the first link connects the first drive shaft 131. It will rotate as the center.
  • FIG. 7 is a schematic diagram showing the first drive unit in a simplified manner. It should be noted that FIG. 7 is only a schematic diagram for explaining the principle and does not necessarily match the shapes and the like of the parts constituting the actual robot hand 500.
  • the first transmission link 140 translates accordingly.
  • the force from the first transmission link 140 is transmitted to the end of the first link 111, and rotation around the first drive shaft 131 is realized in the first link 111.
  • the first joint portion 121 of the first finger 1 rotates (turns) around an axis parallel to or substantially parallel to the extending direction of the second finger 6, the third finger 7, and the fourth finger 8. ) Is configured to be possible.
  • FIG. 8 is a perspective view for explaining the configuration around the second joint portion 122.
  • the first link 111 is further connected to the second link 112 in a manner that allows it to swing around the second rotation shaft 102.
  • the second rotation axis 102 is not perpendicular to the first rotation axis 101, but is slightly tilted toward the finger side other than the vertical, that is, has an acute angle.
  • a second servomotor 152 (not shown) is arranged inside the vicinity of the second rotation shaft 102 on the proximal end side of the second link 112, and its output shaft protrudes from the lower side in the figure.
  • a small-diameter third spur gear 153 is attached to the tip of the protruding output shaft.
  • the third spur gear 153 meshes with the fourth spur gear 154 having a relatively large diameter and transmits a rotational force.
  • the fourth spur gear 154 is connected to the second screw shaft 151 constituting the ball screw, and rotates the second screw shaft 151 in conjunction with the second screw shaft 151.
  • An absolute encoder 155 for detecting the swing angle is provided near the center of the second link 112.
  • a series of members that cause the swing from the second servomotor 152 to the second link 112 may be referred to as a second drive unit.
  • the swing function of the second joint portion can be integrated in the first finger 1. ..
  • FIG. 9 is an explanatory diagram showing the state of rotation around the second rotation axis 102.
  • FIG. 9A shows the state of the robot hand 500 when the first finger 1 is closest to the second finger 6
  • FIG. 9B shows the state of the robot hand 500 when the first finger 1 is from the second finger 6. It shows the state of the robot hand 500 when it is in the farthest position.
  • FIG. 10 is an explanatory diagram showing the operating principle of the second drive unit.
  • a second transmission link 156 having a shaft portion supported by the open end and having the other end pivotally supported by the rotation indicating member 157 with respect to the second link 112 is attached to the open end of the second nut member 155. ing. The shaft portion of the second transmission link 156 slides in the axial direction with the translational motion of the second nut member 155.
  • the second transmission link 156 is supported by the second link 112, the second link 112, the third link 113, and the second link 113 are accompanied by the translational motion of the second nut member 155.
  • the four links 114 swing integrally around the second rotation shaft 102.
  • FIG. 11 is a schematic diagram showing a simplified second drive unit. It should be noted that the figure is only a schematic diagram for explaining the principle and does not necessarily match the shape of the parts constituting the actual robot hand 500.
  • one end of the second link 112 is connected to the first link 111 so as to swing around the second rotation shaft 102. Further, the second screw shaft 151 constituting the ball screw is rotationally supported with respect to the first link.
  • one end of the second transmission link 156 is translated and restrained by the second nut shaft member 155, and the other end of the other end is rotatably supported by the second link 112. Therefore, when the second nut shaft member 155 moves, the second transmission link 156 translates in the direction of the arrow in the drawing on the second nut shaft member 155 days, whereby the second link moves to the second rotation shaft. It swings around 102.
  • FIG. 12 is an explanatory diagram of the arrangement of the first to third rotation axes 101 to 103 when the robot hand 500 in the open state is observed from the right side surface.
  • the first rotation axis 101 and the second rotation axis 102 are not orthogonal to each other, and are arranged so as to be slightly tilted with respect to the tip end side of the palm portion 9 so as to form ⁇ ( ⁇ 90 °). ..
  • Such a structure is similar to the structure of the human hand. That is, even in a human hand, the surface forming the belly of the tip of the first finger (thumb) is arranged so as to be slightly inclined to the tip side rather than parallel to the palm portion in the open state.
  • the second rotation shaft 102 and the third rotation shaft 103 are arranged so as to be orthogonal to each other.
  • FIG. 13 is a perspective view for explaining the configuration of the third joint portion 123 and the fourth joint portion 124.
  • a substantially cylindrical third servomotor 161 is arranged substantially horizontally with the longitudinal direction of the second link 112.
  • the lower end of the third servomotor 161 is supported by a predetermined support housing, and a small-diameter fifth spur gear 162 attached to the output shaft of the third servomotor 161 projects from the support housing.
  • the fifth spur gear 162 meshes with the sixth spur gear 163 having a relatively large diameter.
  • the sixth spur gear 163 is coupled to a third screw shaft 164 (not shown) that forms a part of the ball screw at its center (see FIG. 15).
  • a third nut member 175 (not shown) is connected to the third screw shaft 164 (see FIG. 15), and the third nut member 175 slides in the axial direction of the third screw shaft 164 via a bolt 176. It is linked to a possible third transmission link 165.
  • the third transmission link 165 is connected to one end of the U-shaped transmission link 171 via the first connection shaft 167.
  • the U-shaped transmission link 171 is supported by the second connecting shaft 169 in the middle thereof, and is connected to the fourth joint portion 124 by the fourth connecting shaft 177 through the inside of the third link 113 and the fourth link 114. ing.
  • the base of the third link 113 is swingably connected to the second link 112 via the third connecting shaft 170. Further, the tip of the third link 113 is connected to the fourth link 114 via the fifth connecting shaft 178.
  • a series of drive systems from the third servomotor 161 to the fourth connecting shaft 177 may be hereinafter referred to as a third drive unit.
  • FIG. 14 is an explanatory diagram showing the state of rotation around the third rotation axis 103 and the fourth rotation axis 104.
  • FIG. 14A shows the robot hand 500 in the open state
  • FIG. 14B shows the robot hand 500 in the closed state only in the third joint portion 123 and the fourth joint portion 124.
  • FIG. 15 is an explanatory diagram showing the operating principle of the third drive unit.
  • the third screw shaft 164 is arranged substantially parallel to the longitudinal direction of the second link 112.
  • a third nut member 175 is attached to the third screw shaft 163 so as to form a ball screw, and a third transmission link 165 is connected to the nut member 175 via a bolt 176.
  • the housing supporting the third screw shaft 164 is rotatably connected to the second link 112 via the fifth rotation shaft 174.
  • FIG. 15B shows a state in which the third nut member 175 is moved by a predetermined amount due to the rotation of the third screw shaft 164.
  • the movement of the third nut member 175 causes an operation of pushing up the third transmission link 165 from below.
  • the third screw shaft 164 and the like rotate around the sixth rotation shaft 174.
  • FIG. 15 (c) shows a state in which the third nut member 175 is further raised with respect to the third screw shaft 164 from the state of FIG. 15 (b).
  • the third nut member 175 is arranged at the upper limit position of the third screw shaft 164.
  • the third transmission link 165 is further pushed upward, and the third screw shaft 164 and the like are rotated so as to be further tilted from the vertical direction about the sixth rotation shaft 174.
  • FIG. 16 is a schematic diagram showing a simplified third drive unit. It should be noted that the figure is only a schematic diagram for explaining the principle and does not necessarily match the shape of the parts constituting the actual robot hand 500.
  • the third screw shaft 164 is pivotally supported by the second link 112, and the third nut member 175 translates up and down along the third screw shaft 164.
  • the third nut member 175 is connected to the lower end of the third transmission link 165, and the third transmission link 165 moves up and down together with the third nut member 175.
  • the upper end of the third transmission link 165 is rotatably connected to one end of the U-shaped transmission link 171, and the vicinity of the center of the U-shaped transmission link 171 is swingably supported with respect to the second link 112. Therefore, when one end of the third transmission link 165 is pushed up, the other end is pushed down.
  • the fourth link 114 rotatably connected to the third connecting shaft 177 is bent toward the palm side. Further, with this bending, the third link 113 also swings toward the palm side around the third connecting shaft 170.
  • the third drive system is supported by the second link 112, and one drive system drives two joints of the third joint 113 and the fourth joint 114. Therefore, the internal configurations of the third link 113 and the fourth link 114 can be simplified. As a result, the fingertip can be miniaturized, and a space for attaching the sensor to the fingertip can be provided.
  • the third joint portion 113 and the fourth joint portion are bent so as to be interlocked with each other, so that a natural bending motion can be realized. That is, it is possible to provide a hand mechanism or the like that can intuitively realize a human-like operation.
  • FIG. 17 is a perspective view of the third finger 7 of the robot hand 500.
  • the third finger is provided with a substantially L-shaped side support part 737 fixed to the palm portion 9.
  • the support component 737 has an L-shape, it is possible to provide a space for another mechanism including the first child 1 in the palm portion 9.
  • Servo motor 731 is arranged on the instep side of the support component 737. Further, from the upper end of the support component 737, the one link 711, the second link 712, and the third link 713 are connected via the second connecting shaft 741, the third connecting shaft 748, and the fourth connecting shaft 750, respectively. There is.
  • the second connecting shaft 747 is provided with an absolute encoder 738 that detects the rotation angle thereof.
  • the link that transmits the driving force from the servomotor 731 is protected by the first cover 781 that covers the palm portion 9 side and the second cover 780 that covers the instep portion side. ..
  • FIG. 18 is an explanatory diagram for explaining the operating principle of the third finger 7.
  • the first spur gear 732 which is a small diameter spur gear attached to the output shaft thereof, rotates.
  • the second spur gear 733 which is a large-diameter spur gear that meshes with the first spur gear 732, is driven to rotate.
  • the gripping force at the time of gripping the object can be secured.
  • a V-shaped transmission link 745 whose center is rotatably supported by the fifth connecting shaft 746 is provided.
  • the V-shaped transmission link 745 is rotatably connected to the nut member 742 at one end thereof via the seventh connecting shaft 744, and is connected to the base of the second link 712 at the other end.
  • the second connecting link 712 is rotatably supported by the third connecting shaft 748 with respect to the first link 711, the second connecting link is rooted by the V-shaped transmission link 745. When pushed down, the second link swings about the third connecting shaft 748.
  • the support plate 735 that supports the lower end of the servomotor is rotatably connected to the lower end of the support component 737, it is configured to rotate by the reaction force received from the nut member 742.
  • the first joint portion 721 and the second joint portion 722 can be interlocked and bent by using the driving force from one servomotor.
  • the distance between the second link 712 and the third link 713 is fixed.
  • the present invention is not limited to such a configuration, and the third joint portion 713 may also be configured to be further interlocked.
  • the robot hand 15 is configured from the palm portion 9 to the second finger 6 corresponding to the second finger (indicator) of the human hand and the third finger (middle finger) corresponding to the third finger (middle finger) of the human hand. It is assumed that the three fingers 7 and the fourth finger 8 corresponding to the fourth finger (medicine finger) of the human hand extend, but the present invention is not limited to such a configuration. Therefore, for example, a fifth finger corresponding to the little finger may be further provided, or more fingers may be provided. On the contrary, the number may be smaller, such as the third finger and the fourth child.
  • the number of joints of each finger of the robot hand 15 is not limited to the above-described embodiment, and may be larger or smaller than the above-mentioned number of joints.
  • the present invention can be used at least in an industry that manufactures robot hands, robots, and the like.

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  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PCT/JP2021/037871 2020-12-22 2021-10-13 ハンド機構、ロボットハンド及びロボット WO2022137747A1 (ja)

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CN116872237A (zh) * 2023-07-14 2023-10-13 上海智元新创技术有限公司 灵巧手手指、灵巧手及机器人

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JP2025502576A (ja) * 2022-12-01 2025-01-28 之江実験室 ロボットハンドおよびロボット

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WO2010064684A1 (ja) * 2008-12-03 2010-06-10 国立大学法人奈良先端科学技術大学院大学 ロボットハンド
WO2012039479A1 (ja) * 2010-09-24 2012-03-29 国立大学法人岐阜大学 人間型電動ハンド

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