JP4190248B2 - Clutch mechanism and finger driving mechanism of robot hand - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a clutch mechanism using a face gear, and a finger drive mechanism of a robot hand using the clutch mechanism.
[0002]
[Prior art]
Conventionally, robot hands configured to perform various operations and various operations instead of humans have been developed. For example, in the robot hand disclosed in Patent Document 1, the motor and the rotation of the motor are decelerated at portions corresponding to the finger joints of the robot hand in order to operate the finger of the robot hand in a manner similar to that of a human finger. And a gear reduction mechanism.
[0003]
[Patent Document 1]
JP-A-11-156778 (paragraph numbers 0009 to 0012, FIGS. 1 to 4)
[0004]
[Problems to be solved by the invention]
However, depending on the type of work, a load greater than expected may be applied to the fingers of such a robot hand. In such a case, if the gear reduction mechanism receives a force larger than the force assumed in the design, the gear teeth may be damaged, the shaft supporting the gear may be damaged, or the finger framework structure may be damaged. There is a fear.
[0005]
In order to solve such problems, a clutch mechanism is installed in the robot hand drive unit to enable power transmission when the load within the design value is applied, while excessive load exceeding the design value. It is effective to cut off the power transmission by the slippage of the clutch mechanism in the state in which the act is applied. Accordingly, an object of the present invention is to provide a clutch mechanism that is simple in structure and compact, and a finger driving mechanism for a robot hand including the clutch mechanism.
[0006]
[Means for Solving the Problems]
The invention of claim 1 relates to a clutch mechanism having a face gear, a mating gear meshing with the face gear, and a bearing hole of a housing that rotatably supports a boss portion on which the mating gear is formed. In the present invention, the bearing hole has a small diameter portion located on one end side and a large diameter portion located on the other end side. The small diameter portion is configured to rotatably support the boss portion. In addition, the boss portion inclines in the large-diameter portion so that the counterpart gear can move away from the face gear when an overload is applied to the meshing portion of the face gear and the counterpart gear. And the meshing between the face gear and the mating gear can be released.
[0010]
The invention of claim 2 relates to a finger driving mechanism of a robot hand comprising a finger portion that moves like a human finger and a driving portion that drives the finger portion. The finger driving mechanism of the robot hand is characterized in that the driving unit is composed of a plurality of gears, and the driving unit includes the clutch mechanism according to the invention of claim 1 .
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0012]
[First Embodiment]
1 and 2 show a finger drive mechanism 2 constituting the robot hand 1 according to the present embodiment, and this finger drive mechanism 2 corresponds to any one of five fingers. ing. The finger drive mechanism 2 of the robot hand 1 transmits the rotation of the motor 3 to the injection-molded resin face gear 5 via the planetary gear unit 4, and a small-diameter spur gear (first gear) formed on the injection-molded resin face gear 5. (2 gears) 6 is transmitted to a sector gear (fan gear) 8 which is the third gear of finger part 7, so that finger part 7 indicated by a two-dot chain line moves. Further, as will be described later in detail, the finger drive mechanism 2 of the robot hand 1 elastically urges the injection-molded resin face gear 5 from below by a coil spring (elastic force applying means) 9, thereby causing an overload action. A clutch mechanism K that interrupts power transmission is sometimes configured. In addition, in order to distinguish and illustrate the drive unit 10 and the finger unit 7 which are parts for transmitting power from the motor 3 to the sector gear 8, the finger unit 7 is represented by a two-dot chain line.
[0013]
(Drive part)
The motor 3 is fixed in a state where it is fitted in the space 12 at the end of the housing 11, and the sun gear 14 of the planetary gear device 4 is fixed to the tip of the output shaft 13. Around the sun gear 14, three planetary gears 15 are arranged at equal intervals. The three planetary gears 15 mesh with the sun gear 14 and are fixed on the inner peripheral surface 16 of the housing 11. (See FIG. 4). Further, the three planetary gears 15 mesh with a movable internal gear 17 that is rotatably supported by the housing 11 (see FIG. 5). A spur gear (first gear) 20 formed on the boss portion 18 of the movable internal gear 17 meshes with the injection molded resin face gear 5 (see FIG. 6). The sun gear 14, the planetary gear 15, the fixed internal gear 16, and the movable internal gear 17 constitute the planetary gear device 4. Note that the number of teeth of the movable internal gear 17 is different from the number of teeth of the fixed internal gear 16. The reduction gear ratio of the planetary gear device 4 increases as the difference in the number of teeth between the movable internal gear 17 and the fixed internal gear 16 decreases.
[0014]
The injection-molded resin face gear 5 is rotatably supported by a shaft 22 fixed to the housing 11 as shown in FIGS. A spur gear (second gear) 6 formed integrally with the injection molded resin face gear 5 is a sector gear (fan gear) 8 as a third gear fixed to the first bone member 23 of the finger portion 7. Are engaged. The injection-molded resin face gear 5 is elastically biased from below by a coil spring 9 and meshes with the first gear 20 by receiving the spring force of the coil spring 9.
[0015]
The coil spring 9 is accommodated in the hole 21 on the outer peripheral side of the shaft 22 in a pre-compressed state, and its compression amount so that the injection molded resin face gear 5 and the first gear 20 are engaged with each other with a predetermined contact pressure. (Preload) is set. Therefore, the coil spring 9 is not compressed and deformed unless it is pushed by a force equal to or greater than the spring force that urges the injection molded resin face gear 5 toward the first gear 20 side. The meshing state of the first gear 20 can be maintained.
[0016]
On the other hand, as shown in FIG. 9, the coil spring 9 has an overload acting on a meshing portion between the first gear 20 and the injection molded resin face gear 5, and a force acting in a direction to push down the injection molded resin face gear 5. When (F2) becomes larger than a preload (FV) given in advance (F2> FV), it is elastically deformed in the direction of being compressed, and when the amount of elastic deformation exceeds a predetermined value, the teeth of the injection molded resin face gear 5 The meshing of the teeth of the first gear 20 is released, and the power transmission between the first gear 20 and the injection molded resin face gear 5 is interrupted (see FIG. 8). That is, the coil spring 9, the injection molding resin face gear 5, and the first gear 20 constitute a clutch mechanism K. Note that F0 is a force transmitted from the first gear 20 to the injection-molded resin face gear 5. F1 is a component force in a direction perpendicular to the inclined surface at the meshing portion between the first gear 20 and the injection-molded resin face gear 5.
[0017]
As described above, the clutch mechanism K of the drive unit 10 is elastic so that the injection-molded resin face gear 5 can be brought into and out of contact with the first gear 20 by the coil spring 9 (so that the meshing can be released or the meshing can be released). When an overload is applied during operation, the meshing state between the injection molded resin face gear 5 and the first gear 20 is released by the elastic deformation of the coil spring 9, so that each gear (5, 6, 8, 14, 15, 16, 17, 20) and the shafts (13, 22) of the gears can be prevented from being overloaded. Occurrence of shaft damage can be prevented.
[0018]
(Finger)
The finger portion 7 includes a first bone member 23 that swings about a shaft 24 serving as a first joint fixed to the housing 11, and a distal end side of the first bone member 23 (the side opposite to the first joint). A second bone member 26 that swings about a shaft 25 serving as a second joint, and a shaft 27 serving as a third joint on the distal end side (the side opposite to the second joint) of the second bone member 26. And a third bone member 28 that swings. Here, the second bone member 26 includes a base plate 30 on which a shaft 25 serving as a second joint and a shaft 27 serving as a third joint project, and caulking holes 31 and 32 formed on the shafts 25 and 27 of the base material 30. The presser plate 33 is fixed by caulking after being fitted, and the end portions of the first bone member 23 and the third bone member 28 are accommodated between the substrate 30 and the presser plate 33 so as to be swingable. .
[0019]
Further, one end side of the first link 34 is attached to the housing 11 via a shaft 35 so as to be swingable. A shaft 35 serving as a swing center of the first link 34 is located on an extension of the shaft core 36 of the motor 3 (see FIG. 1). The other end side of the first link 34 is slidably engaged with a shaft 37 protruding from the substrate 30 of the second bone member 26, and the first bone member 23 and the substrate 30 of the second bone member 26 are connected to each other. Is contained in the space between. Further, one end side of the second link 38 is swingable to a shaft 41 protruding from the first bone member 23 on the extension of the line 40 connecting the shaft 24 as the first joint and the shaft 25 as the second joint. They are engaged (see FIG. 1). The other end of the second link 38 is slidably engaged with a shaft 42 protruding from the third bone member 28. Here, the shaft 37 on the other end side of the first link 34 and the shaft 41 on the one end side of the second link 38 are located on a circle concentric with the shaft 25 as the second joint. The first link 34 is attached so as to obliquely cross a line 40 connecting the shaft 24 as the first joint and the shaft 25 as the second joint. The second link 38 is attached so as to obliquely cross a line 43 connecting the shaft 25 as the second joint and the shaft 27 as the third joint.
[0020]
Further, as shown in FIG. 3, in the state where the first bone member 23 is attached to the finger core 7 at an angle θ1 from the axis 36 of the motor 3, the second bone member 26 extends from the axis 36 of the motor 3. The angle θ2 (θ1 <θ2) is inclined, and the third bone member 28 is configured to be inclined from the shaft core 36 of the motor 3 by an angle θ3 (θ2 <θ3). Then, when the first bone member 23 is rotated clockwise by the angle α with the shaft 24 as the first joint as the swing center, the shaft position on the other end side of the first link 34 moves from the A1 point to the A2 point. Then, the second bone member 26 rotates in the clockwise direction by an angle β with the shaft 25 as the swing center. As a result, the shaft position on the other end side of the second link 38 moves from the B1 point to the B2 point, and the third bone member 28 rotates clockwise by the angle δ with the shaft 27 as the swing center. That is, in the finger portion 7, as the first bone member 23 rotates in the clockwise direction, the second bone member 26 largely rotates about the shaft 25 as the second joint as the swing center, and the third bone member 28 pivots about the axis 27 as the third joint as a swing center, and the fingertip moves from the position (P1) to the position (P2) to perform a hand gripping operation.
[0021]
On the other hand, when the fingertip moves from the position (P2) to the position (P1), the first bone member 23 rotates counterclockwise by the angle α from the state shown in (P2), and the hand is opened. Operation is performed. The movable range of the finger portion 7 is at least a range from the position indicated by the dotted line in FIG. 1 to a position rotated approximately 90 ° in the clockwise direction.
[0022]
According to the present embodiment configured as described above, even when an overload is applied during operation of the finger drive mechanism 2 of the robot hand 1, the coil spring 9 is bent and deformed, whereby the injection molded resin face gear. Since the meshing between the first gear 20 and the first gear 20 can be released, an excessive load does not act on each component of the driving unit 10, and each gear (5, 6, 8, 14, 15, 16 , 17, 20) and the shafts (13, 22) of the gears can be effectively prevented from being damaged, and the frame structure of the finger portion 7 can be effectively prevented from being damaged.
[0023]
In the present embodiment, the elastic force applying means for elastically urging the injection-molded resin face gear 5 toward the first gear 20 is not limited to the coil spring 9 described above, and an elastic force similar to the coil spring 9 is used. For example, a disc spring, a leaf spring, a rubber pad, or the like may be used.
[0024]
In the present embodiment, the injection molded resin face gear 5 and the first gear 20 may be replaced with a metal face gear and the first gear.
[0025]
[Second Embodiment]
FIG. 10 shows a second embodiment of the present invention and shows another embodiment of the clutch mechanism K. In FIG. As shown in FIG. 10, in the present embodiment, the bearing hole 46 of the housing 11 that rotatably supports the boss portion 18 of the movable internal gear 17 is directed from the movable internal gear 17 side to the first gear 20 side. Accordingly, the diameter of the boss portion 18 is increased, and the bending deformation of the boss portion 18 and the inclination of the boss portion 18 are allowed (see FIG. 11). That is, the boss portion 18 connected to the first gear 20 is supported by a small diameter portion located on one end side of the bearing hole 46, and swings in the bearing hole 46, thereby causing the first gear 20 to be injection molded resin face. The first gear 20 can be brought into contact with and separated from the gear 5 (the first gear 20 can be engaged with the injection molded resin face gear 5 or the first gear 20 and the injection molded resin face gear 5 can be disengaged). It has become.
[0026]
Here, as shown in FIG. 12, when an excessive load is applied to the meshing portion between the injection molded resin face gear 5 and the first gear 20, the rotation transmission acting on the injection molded resin face gear 5 from the first gear 20. When the force is F0, the component force in the direction perpendicular to the slope of the meshing portion is F1, the slope direction component of the meshing portion is F3, and this slope direction component F3 acts on the slope of the meshing portion (μF1). ) And the like, the first gear 20 moves in a direction away from the injection-molded resin face gear 5, and the boss portion 18 is bent and deformed, or the boss portion 18 is inclined. The bending deformation of the boss portion 18 and the inclination of the boss portion 18 are allowed by the tapered bearing hole 46. As a result, the meshing between the injection molded resin face gear 5 and the first gear 20 is released.
[0027]
Also in the present embodiment having such a configuration, as in the first embodiment described above, the teeth of the gears (5, 6, 8, 14, 15, 16, 17, 20) and the shafts of the gears. It is possible to prevent an overload from acting on (13, 22), and it is possible to prevent damage to the teeth of each gear and damage to the shaft of each gear due to the action of the overload (FIGS. 1 and 2). reference).
[0028]
As shown in FIG. 13, the bearing hole 46 is inclined only on one side (upper side in FIG. 13), so that the boss portion 18 releases the meshing between the first gear 20 and the injection molded resin face gear 5. It may be allowed to tilt.
[0029]
Further, in the present embodiment, as shown in FIG. 14, by forming a small diameter portion 47 in the boss portion 18, the boss portion 18 may be partially thinned and the boss portion 18 may be easily bent and deformed. . Alternatively, as shown in FIG. 15, the entire boss portion 18 may be made thin (for example, smaller in diameter than the diameter of the root circle of the first gear 20), and the boss portion 18 may be easily bent and deformed. . This facilitates the release of the meshing between the first gear 20 and the injection molded resin face gear 5 in combination with the operation of the bearing hole 46 described above.
[0030]
In the present embodiment, the injection molded resin face gear 5 and the first gear 20 may be replaced with a metal face gear and the first gear.
[0031]
[Third Embodiment]
FIG. 16 shows a third embodiment of the present invention, and shows another embodiment of the clutch mechanism K. FIG. As shown in FIG. 16, in the present embodiment, the web 48 of the injection molded resin face gear 5 is thinned into a substantially disk shape to form a thin portion 50, and the injection molded resin face gear 5 and the first gear are formed. When an excessive load is applied to the meshing portion with 20, the thin-walled portion 50 is bent and deformed by a component force in the direction of pushing down the injection molded resin face gear 5 acting on the meshing portion of the first gear 20 and the injection molded resin face gear 5. The meshing state between the injection-molded resin face gear 5 and the first gear 20 is released.
[0032]
Also in the present embodiment having such a configuration, as in the first embodiment described above, the teeth of the gears (5, 6, 8, 14, 15, 16, 17, 20) and the shafts of the gears. It is possible to prevent an overload from acting on (13, 22), and it is possible to prevent damage to the teeth of each gear and damage to the shaft of each gear due to the action of the overload (FIGS. 1 and 2). reference).
[0033]
[Fourth Embodiment]
FIG. 17 shows a fourth embodiment of the present invention and shows another embodiment of the clutch mechanism K. In FIG. As shown in FIG. 17, in the present embodiment, the pressure angle α of the teeth 51 of the injection molded resin face gear 5 and the teeth 52 of the first gear 20 is reduced, and the injection molded resin face gear 5 and the first gear are reduced. The tooth thickness s of the 20 teeth 51 and 52 is reduced, and the teeth 51 of the injection-molded resin face gear 5 and the teeth 52 of the first gear 20 are bent and deformed easily so that the injection-molded resin face gear 5 and the first gear 20 are deformed. When an excessive load is applied to the meshing portion, the meshing teeth 51 and 52 are bent and deformed, and slippage occurs at the meshing portion between the injection molded resin face gear 5 and the first gear 20.
[0034]
Also in the present embodiment having such a configuration, as in the first embodiment described above, the teeth of the gears (5, 6, 8, 14, 15, 16, 17, 20) and the shafts of the gears. It is possible to prevent an overload from acting on (13, 22), and it is possible to prevent damage to the teeth of each gear and damage to the shaft of each gear due to the action of the overload (FIGS. 1 and 2). reference).
[0035]
In each of the above-described embodiments, the clutch mechanism K using the injection molded resin face gear 5 is not limited to being applied to the finger driving mechanism 2 of the robot hand 1, and is a power transmission device used for various purposes. Can be widely applied to.
[0036]
【The invention's effect】
In the present invention described above, when an overload is applied to the meshing portion of the injection molded resin face gear and the mating gear meshing with the injection molded resin face gear, the meshing state between the injection molded resin face gear and the mating gear is released. Further, it is possible to prevent the gear teeth from being damaged and the gear shaft from being damaged due to the overload.
[Brief description of the drawings]
FIG. 1 is a plan view showing a finger driving mechanism of a robot hand according to a first embodiment of the present invention, with a part thereof broken away.
2 is a longitudinal sectional view of a finger driving mechanism of a robot hand shown cut along line EE in FIG. 1. FIG.
FIG. 3 is a diagram showing an operating state of the finger drive mechanism of the robot hand according to the first embodiment of the present invention.
4 is a cross-sectional view of the finger drive mechanism of the robot hand shown cut along the line BB in FIG. 1. FIG.
5 is a cross-sectional view of the finger drive mechanism of the robot hand shown cut along line CC in FIG. 1. FIG.
6 is a cross-sectional view of the finger drive mechanism of the robot hand shown cut along the line DD in FIG. 1. FIG.
FIG. 7 is a cross-sectional view showing the clutch mechanism according to the first embodiment of the present invention.
8 is an operational state diagram of the clutch mechanism shown in FIG. 7;
FIG. 9 is a diagram for explaining a force acting state in the clutch mechanism of FIG.
FIG. 10 is a cross-sectional view showing a clutch mechanism according to a second embodiment of the present invention.
11 is an operational state diagram of the clutch mechanism shown in FIG. 10;
12 is a diagram for explaining a force acting state in the clutch mechanism of FIG. 10;
FIG. 13 is a cross-sectional view showing a first modification of the clutch mechanism according to the second embodiment of the present invention.
FIG. 14 is a cross-sectional view showing a second modification of the clutch mechanism according to the second embodiment of the present invention.
FIG. 15 is a cross-sectional view showing a third modification of the clutch mechanism according to the second embodiment of the present invention.
FIG. 16 is a cross-sectional view showing a clutch mechanism according to a third embodiment of the present invention.
FIG. 17 is an enlarged view of a meshing portion between an injection molded resin face gear and a first gear showing a clutch mechanism according to a fourth embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Robot hand, 2 ... Finger drive mechanism, 5 ... Injection molding resin face gear, 7 ... Finger part, 9 ... Coil spring (elastic force provision means), 10 ... Drive part, 20 ... 1st 1 gear (counter gear), 48 …… Web, 50 …… Thin part, 51,52 …… Tooth

Claims (2)

A face gear, a mating gear that meshes with the face gear, and a bearing hole in a housing that rotatably supports a boss formed with the mating gear;
  The bearing hole has a small diameter portion located on one end side and a large diameter portion located on the other end side,
  The small diameter part rotatably supports the boss part,
  The large-diameter portion allows the boss portion to tilt so that the counterpart gear can move away from the face gear when an overload is applied to a meshing portion of the face gear and the counterpart gear. And allowing the meshing of the face gear and the mating gear to be released,
  A clutch mechanism characterized by that. In a finger drive mechanism of a robot hand comprising a finger portion that moves similar to the movement of a human finger, and a drive portion that drives the finger portion,
  The finger driving mechanism for a robot hand, wherein the driving unit includes a plurality of gears, and the driving unit includes the clutch mechanism according to claim 1.

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