JPH04189493A - Robot hand - Google Patents

Abstract

PURPOSE:To perform the stabilized holding operation by forming a first, a second and a third finger parts so as to be driven separately. CONSTITUTION:Bending shafts 22, 32 are provided in two rotating shafts 21, 31, which are provided in a side edge 11 and the tip of a hand base 1 so as to be transverse to each other, so as to be transverse to the respective rotating shafts 21, 31, and a first and a second finger parts 2, 3 having at least one joint are provided so as to be tuned around of the respective bending shafts 22, 32. Furthermore, a third finger part 4 having a joint, which can be curved toward a holding part, is provided, and these three fingers are driven separately. Two finger parts among the three finger parts are operated to hold an objective material and while the other finger part is operated separately to perform two works simultaneously. Furthermore, three finger parts 2, 3, 4 are operated simultaneously to support a complex shape objective material W at three points, and the stabilized holding operation is thereby performed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot or manipulator hand with three fingers of different shapes.

[Prior Art] Conventionally, some hands, such as robots, are equipped with a plurality of fingers, like those of a human hand, in order to be able to handle various types of work (for example, Japanese Patent Application Laid-Open No. 62-213986 ).

This consists of a plurality of first flexible cylinders at the tip of the hand base, a rotation mechanism provided near the tip of the hand base, and a second flexible cylinder corresponding to the thumb provided on the rotation mechanism. bending the first and second flexible cylindrical bodies, and operating a rotation mechanism to rotate the second flexible cylindrical body;
An object is disclosed that grips an object between first and second flexible cylinders.

[Problems to be Solved by the Invention] However, with the hand configured as described above, when correcting the posture of the object after gripping it or pressing a push button provided on the object, the first and second Since the second flexible cylindrical body is used for gripping, the above operation cannot be completed with one hand.

Therefore, a moving body separate from the hand is provided to perform actions such as correcting the posture of the object or pressing a push button provided on the object, which requires a large amount of equipment cost and the need to change hands. There were disadvantages such as long working hours.

An object of the present invention is to provide a robot hand that enables highly functional movements with a single hand.

[Means for Solving the Problems] The present invention provides a robot hand having a plurality of fingers on a hand base, which rotates about a first rotation axis provided parallel to a side part of the hand base, A first finger portion provided with a base link rotatable around a first bending axis perpendicular to the first rotation axis and a tip link via a joint, and a tip portion perpendicular to the side portion. a second bending axis that rotates about a second rotation axis that is orthogonal to the first rotation axis that is provided in parallel and is orthogonal to the base of the hand base; a second finger portion provided with a base link that rotates around the base link, at least one second finger joint that can be curved toward the base between the base link and the tip link, and parallel to the tip portion; A base ring that rotates around a third rotation axis provided in the base link, and a third finger joint that can be curved toward the base of the base link and the base link, and a third finger joint that can be bent toward the base. a third finger portion;
, the third finger portions are each driven independently.

Also, a first finger joint formed by pin-connecting the base links of the second and third finger parts and one end of a scalene cross link, and the other end of the cross link and one of the tip links. and a second finger joint formed by pinot connecting the ends thereof, and the scalene cross link is rotated with respect to the base link by an actuator.

[Function] Two rotation axes orthogonal to each other are provided on the side and tip of the hand base, and each bending axis is orthogonal to each other, and the hand rotates around each bending axis and has at least one joint. In addition to providing the first and second finger parts, a third finger part is provided with a joint that can curve toward the base, and each finger part is designed to be driven independently. By independently operating the other fingers while grasping the object, you can perform other tasks at the same time.

In addition, by simultaneously operating the three finger sections, it is possible to support a complex-shaped object at three points and perform a stable gripping operation.

Furthermore, since the tip links and cross links of the second and third finger parts are driven by one actuator and rotate at two joints, the number of actuators is reduced.

[Example] The present invention will be described with reference to embodiments shown in the drawings.

FIG. 1 is a front view showing an embodiment of the present invention, and FIG. 2 is a side view thereof. The robot hand of the present invention includes a flat hand base 1 having a rectangular shape, a first finger part 2 provided on a side part 11 of the hand base 1, and a first finger part 2 provided on a tip part 12 of the hand base 1. It is composed of a second finger section 3 and a third finger section 4.

The hand base l is provided with a first rotating shaft 21 that is parallel to the side portion 11 , and the base of the first finger 2 is provided with a first rotating shaft 21 that is perpendicular to the first rotating shaft 21 and rotates together with the first rotating shaft 21 . A first bending shaft 22 supported in a hanging manner is provided. 1st
A base link 23 of the first finger portion 2 is supported on the bending shaft 22 so as to be rotatable about the first bending shaft 22 . A tip link 25 is connected to the tip of the base link 23 via a first knuckle 24 that curves in the direction of the tip 12 of the hand base 1.
is provided. - A second rotation shaft 31 extending perpendicularly to the surface of the base 13 is provided near the first rotation shaft 21 at the tip of the hand base l, and a second rotation shaft 31 is provided at the base of the second finger 3. A second bending shaft 32 is provided which is orthogonal to the second bending shaft 32 and can rotate together with the second rotation shaft 31 . As shown in FIG. 3(a), one end of the base link 33 of the second finger portion 3 is supported on the second bending shaft 32 so as to be rotatable about the second bending shaft 32, and the actuator 34. The middle part of the second part 3 includes a base link 33 and two scalene bars 35A.

A cross link 35 made of 35B and a tip link 36 are each connected by a pin, and between the base link 33 and the cross link 35, and between the cross link 35 and the tip link 3.
6, forming two second finger joints 37 and 38. The scalene bar 34A on one side of the cross link 34 is rotated by an actuator 39, and as shown in FIG. 3(b), as the cross link 35 rotates, the tip link 36 is moved in the same direction. rotate to the second
This allows the finger portion 3 to be curved in the direction of the base portion 13 of the hand base l.

Note that a bellows-shaped cover 40 is attached to surround the cross link 35 to protect the joint portion.

A third rotation shaft 41 is provided adjacent to the second rotation shaft 31 and parallel to the tip of the hand base l. The third rotating shaft 41 includes a base link 43 driven by an actuator 42, a scalene cross link 44, a tip The links 45 are each connected by a pin, and two third knuckles 46 are provided between the base link 43 and the scalene cross link 44 and between the scalene cross link 44 and the tip link 45.
．． 47 is rotated by one actuator 48,
It is curved in the direction of the base 13 of the hand base 1 so that it hangs.

Now, the operation when gripping an object with a push button on the end face of a cylindrical body and pressing the push button is shown in the front view shown in Fig. 4, the plan view shown in Fig. 5, and Fig. 6. This will be explained with reference to the side view shown.

First, the hand base 1 is moved by a robot body (not shown) and positioned so that the push button B provided on the end surface of the object W is near the side part 11 of the hand base l (.

Then, the first finger portion 2 is aligned with the arrow (
The first finger 2 is rotated in the direction of (A) so as to be at a right angle or an acute angle with respect to the surface of the base 13, and the first finger 2 is rotated in the direction shown in FIG. 2 (b)
Curve it in the direction of.

Further, the third finger portion 4 is appropriately curved toward the base 13 in the direction of arrow (C) by the third finger joint 47.48, and the third finger portion 4 is
The object W is grasped between the fingers 2 and the third fingers 4.

Thereafter, the second finger part 3 is rotated to the outside of the side part 11 in the direction of arrow (D) about the second rotating shaft 31, and the base 13 is rotated about the second bending axis 32 of the second finger part 3. Then, the actuator 39 rotates the cross link 35 and the tip link 36 at the second finger joints 37 and 38, bending the second finger 3 and pressing the push button B. press

Therefore, the second finger portion is connected to the first and third finger portions.
' can be operated independently, so while holding the object between the first and third fingers, you can use the second finger to press the push button, or press one side of the object to adjust the grip position. It is possible to perform other actions at the same time, such as modifying the

Furthermore, by using the first, second, and third finger sections for the gripping operation, it is possible to support a complex-shaped object at three points and perform a stable gripping operation.

Further, since the joints of the second and third finger parts can operate two links simultaneously with one actuator, the number of actuators is small, and a compact and lightweight structure can be achieved.

[Effects of the Invention] As described above, according to the present invention, it is possible to grasp an object with two fingers while simultaneously performing other tasks with the other fingers, and it is also possible to grasp an object with two fingers while simultaneously performing other tasks with the other fingers. Since it can operate simultaneously to support a complex-shaped object at three points, it has the effect of providing a small, lightweight, and highly functional robot hand that can perform stable gripping operations.

[Brief explanation of the drawing]

Figure 1 is a front view showing an embodiment of the present invention, Figure 2 is a side view thereof, Figures 3 (a) and (b) are configuration diagrams of the second and third finger parts, and Figure 4 is during operation. 5 is a plan view during operation, and FIG. 6 is a side view during operation.

Claims (1)

[Claims] 1. In a robot hand having a plurality of fingers on a hand base, the robot hand rotates about a first rotation axis provided parallel to a side portion of the hand base, and the first rotation a first finger portion provided with a base link rotatable around a first bending axis perpendicular to the axis and a tip link via a joint; and a first finger portion provided parallel to the tip portion perpendicular to the side portion Rotates about a second rotation axis that is perpendicular to the first rotation axis and perpendicular to the palm of the hand base, and rotates about a second bending axis that is perpendicular to the second rotation axis. a second finger section provided with at least one second finger joint capable of curving toward the palm section between the base link and the tip link; and a second finger section provided parallel to the tip section. a third finger section including a base link that rotates around a third rotation axis; and at least one third finger joint that can be curved toward the palm section between the base link and the tip link; A robot hand, characterized in that the first, second, and third finger portions are each independently driven. 2. The second finger part and the third finger part each have a first finger joint formed by pin-connecting a base link and one end of a scalene cross link, and the other end of the cross link and a tip link. and a second finger joint formed by connecting one end of the robot hand with a pin, and the robot hand is configured to rotate the scalene cross link with respect to the base link by an actuator. .