JPH03228593A - Articulated finger - Google Patents

Abstract

PURPOSE:To realize light weighing as the whole and to quicken the responding speed thereof, by arranging a 3rd joint body which is pivotally supported rotatably on a 2nd joint body, is rotated by receiving the fluid pressure given via the fluid passage of 1st and 2nd joint bodies and is abutted on the 2nd joint body. CONSTITUTION:When fluid is fed into the fluid passage 1-1 of a 1st joint body 1, this fluid is given to a 3rd joint body 3 via the fluid passages 2-11c, 2-21c of a 2nd joint bodies 2-1, 2-2. A 3rd joint body 3 is then rotated by receiving this fluid pressure thus given and abutted on the 2nd joint bodies 2-1, 2-2. By the abutment of this 3rd joint body 3, the 2nd joint bodies 2-1, 2-2 are rotated and abutted onto the 1st joint body 1.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to multi-jointed fingers suitable for use as fingers of industrial robots.

[Conventional technology]

In recent years, many robots have been developed to perform tasks in place of humans, but conventional robots have multiple fingers that are rotatably connected at joints using a joint mechanism, and are controlled by the power of a servo motor geared down. By driving the finger, each finger piece is rotated in the same direction to bend the finger.

In such robot fingers, there is a limit to how small the fingers can be made because the servo motors and gears require space, and the number of joints cannot be increased, making it impossible to make fine finger movements. There are various drawbacks.

For this reason, a ``robot finger structure J'' has been proposed as shown in Japanese Patent Application No. 57-54966. In this ``robot finger structure'', a plurality of first joint bodies and second joint bodies are They are stacked one on top of the other, and the periphery of the first joint body and the periphery of the second joint body facing the first joint body are magnetized with different polarities to bring them closer to each other, thereby bending the finger.

According to this finger structure J of "Robo 7), it is possible to achieve miniaturization with a simple structure, and since a large number of joints are formed, the bending movement of the fingers can be performed finely and smoothly.

[Problem to be solved by the invention]

However, although the above-mentioned "robot finger structure" can be miniaturized with a simple configuration, it is expensive because the first joint body and the second joint body are formed using a magnetic material. Become. Additionally, the overall weight increases, which slows down the response speed. Furthermore, it is not easy to assemble and disassemble, and the structure is still complex.

[Means for Solving the Problems] The present invention has been proposed to solve such problems, and the first invention (invention according to claim 1) is a first invention having a fluid illumination passage. The joint body also has a fluid passageway, and is rotatably supported by the first joint body with the fluid passageway communicating with the fluid passageway of the first joint body, and the rotation thereof a second joint body which is regulated by contacting the first joint body; a fluid supply means for feeding fluid into the fluid passageway of the first joint body; and a rotatably supported shaft on the second joint body. and a third joint body that rotates under the pressure of fluid applied through the fluid passages of the first and second joint bodies and abuts the second joint body.

Moreover, the second invention (invention related to claim 2) is the first invention.
In the invention, a return means is provided so that the joint body rotated as a result of sending fluid into the fluid passageway of the first joint body can be returned to its original position.

Moreover, the third invention (invention related to claim 3) is the first invention.
In the invention, at least the second joint body has a pressure-receiving surface in a direction for rotating the joint body in its fluid passageway.

[Effect]

Therefore, according to the first aspect of the present application, when fluid is sent into the fluid passageway of the first joint body, this fluid is supplied to the third joint body via the fluid passageway of the second joint body.

Then, in response to the applied fluid pressure, the third joint body rotates and comes into contact with the second joint body. However, due to the contact of the third joint body, the second joint body rotates and comes into contact with the first joint body.

Moreover, according to the second invention of the present application, the joint body rotated in the first invention can be returned to its original position.

Further, according to the third aspect of the present application, when fluid is sent to the fluid passageway of the first joint body, this fluid is supplied to the third joint body through the fluid passageway of the second joint body, It acts on the pressure-receiving surface in the fluid passage of the second joint body, and uses this as a pressure-receiving force to rotate the second joint body. Therefore, the contact of the third joint body and the force received by itself are both suitable,
The second joint body rotates and comes into contact with the first joint body.

〔Example] Hereinafter, the multi-joint surgery according to the present invention will be explained in detail.

FIG. 1 is a front view showing one embodiment of this multi-joint technique.

In the figure, 1 is a joint body unit top, 2-1 and 2-2 are joint body units, 3 is a joint body unit end, and 4 is a joint body unit finger. The joint body unit end 3 is molded from glass fiber-filled polyamide, and the joint body unit finger 4 is molded from urethane.

The joint body unit top 1 is shown in FIG. 2 (al and (b)
As shown in its side view and front view, it has a first passage 1-1 and a second passage 1-2 as fluid passage passages. One end side opening part 1- of passages 1-1 and 1-2
1) and 1-21. The other end side openings 1-12 and 1-22 have a large diameter, and the first passage 1-1
In this case, the outlet passage of the small-diameter intermediate passage 1) 3 faces an eccentric position with respect to the opening of the other end side opening 1-12. The joint unit top 1 also has semicircular recessed steps 1-3F and 1-3F on its front and rear sides.
3R is formed, and this recess step part 1-3F and 1-3R
A through hole 1-4 is provided in the central part of. Note that in this embodiment, the second passage 1-2 is not used as a fluid passage passage.

As shown in FIGS. 3(a), 3(b), and 3(c), the joint body unit 2-1 has a first passage 2-1 as a fluid passage passage. and a second passage 2-12. This joint body unit 2
-1, the openings 2-1) a and 2-12a at one end of the passages 2-1) and 2-12, and the openings 2-1) b and 2-12b at the other end have large diameters. has been done. That is, in the first passage 2-1), one end side opening 2-1) a and the other end side opening 2-1) b are communicated with each other through a small-diameter middle passage 2-1) C, and the first passage 2-1) In the passage 2-12 of No. 2, one end side opening 2-12a and the other end side opening 2-12b are intermediate passages 2-12c with a small diameter.
It is communicated with. In addition, for joint body Uniso) 2-1,
A semicircular rich stepped portion 2-13 on the front side and the rear side.
F and 2-13R are formed, and this recess step 2-13
Through holes 2-14 are provided at F and 2-13R. The joint body unit 2-1 also has a semicircular collar surface 2-15F extending laterally on the front and rear sides thereof.
and 2-15R are formed, and a through hole 245F and 2-
15R.

is provided. Note that in this embodiment, the second passage 2-12 is not used as a fluid passage passage.

The joint body unit 2-2 uses the joint body unit 2-1 as a common component.

The joint body unit end 3 is shown in FIGS. 4(a) and (bl).
As shown in the front and side views, bosses 3-1 and 3-2 are formed to protrude laterally.

Further, the joint body unit end 3 is formed with semicircular flange portions 3-3F and 3-3R extending laterally on the front and rear sides thereof.
Through holes 3-3Fl and 3-3R+ are provided in the center of 3R. Further, the joint body unit end 3 is formed with rectangular flange portions 3-4F and 3-4R extending downward on its front and rear sides.
Through holes 3-4F and 31R+ are provided in the center of 4F and 3-4R.

The joint body unit finger 4 is shown in FIGS. 5(a) and (b).
As shown in the front view and side view in ), the upper part of the arcuate claw part 4-1 has a convex stepped part 4-2 in which a through hole 4-3 is formed.

FIG. 6 is an exploded view of this articulated finger 10. The assembly will be explained below with reference to this exploded view.

The joint body unit top 1 is fixed to the robot main body (not shown), and has a first passage 1-1 with an open end 1-1.
1) is connected to an air pipe 5-1.

Then, the recessed stepped portion 1- of this joint unit knob 1
The flanges 2-15F and 245R of the joint body unit 2-1 are inserted into 3F and 1-3R, and the pin 9-1 is inserted into the corresponding through holes. As a result, the joint body unit 2-1 is rotatably supported on the joint body unit top 1 so that its rotation is regulated by contact with the joint body unit top 1 as will be described later. At this time, the other end side openings 1-12 and 1 of the joint body unit top 1
-22 and one end side opening part 2-1 of the joint body unit 2-1)
a and 2-12a, a joint body unit piston 6-1 with an O-ring 7 attached thereto, and a compression coil spring 8.
-1 is inserted and arranged.

FIG. 7 is a partially cutaway side view of the joint unit piston 6-1, which has a passage 6-1) extending through it in the axial direction. The inner diameter Φa of this passage 6-1) is the passage diameter Φb of the intermediate passage 1-13.1-23 of the joint body unit top 1.
(see Fig. 2)) and the passage diameter ΦC of intermediate passages 2-1) c and 2-12c of the joint body unit 2-1 (see Fig. 3 (bl)).

In addition, the length of the joint body unit piston 6-1 is formed long, and in the state shown in FIG. is standing. That is, the intermediate passage 1-13 of the joint body unit top 1 and the intermediate passage 2-1) c of the joint body unit top 1) communicate with each other via the passage 6-II of the joint body unit piston 6-1. It is possible to do so. In addition, the joint body unit piston 6-1 includes:
Concave grooves 6-12 and 6-13 are formed at both ends of the outer periphery so that the O-ring 7 can be attached. In addition, in the state shown in FIG. 1, the compression coil spring 8-1
exerts a pressing force on the joint units 2-1.

Thus, the flange portion 2- of the joint body unit 2-2 is attached to the recessed stepped portions 2-13F and 2-13R of the joint body units 2-1.
25F and 2-25R are inserted, and the pin 9-2 is inserted into the corresponding through hole. As a result, the joint unit 2-2 is rotatably supported by the joint body unit 2-1 so that its rotation is regulated by contact with the joint body unit 2-1 as will be described later. At this time, the other end side opening portion 2-1)b and 2-12 of the joint body unit 2-1
A joint body unit piston 6-2 equipped with an O-ring 7 and a compression coil spring 8-2 are inserted and arranged between the joint body unit 22 and the one end side opening portions 2-21a and 2-22a of the joint body unit 22. It is said that In addition, joint body unit pistons 6-1 and 6-2, compression coil springs 8-1 and 8-2
are used as common parts. In addition, in the state shown in FIG. 1, there is a slight gap between the opposing outer wall surfaces of the joint body unit 2-1 and the joint body unit 2-2, and the compression coil spring 8-2 is connected to the joint body unit 2-2. 2 is the same as described above, and the intermediate passage 2-1) c of the joint body unit 2-1 and the joint body unit 2-
The intermediate passage 2-21C of No. 2 is in communication with the passage 6-21 of the joint body unit piston 6-2.

Then, the flange surface portion 3 of the joint body unit end 3 is attached to the recessed stepped portions 2-23F and 2-23R of the joint body unit 2-2.
-3F and 3-3R are inserted, and the pin 9-3 is inserted into the corresponding through hole. As a result, the joint body unit end 3 is rotatably supported by the joint body unit 2-2 so that its rotation is regulated by contact with the joint body unit 2-2 as described later. At this time, the other end side openings 2-21b and 2'-2 of the joint body unit 2-2
2b is the boss 3-1 and 3- to which the O-ring 7 is attached.
2, it becomes a closed state.

Then, the flange portions 3-4F and 3 of the joint body unit end 3
-4R, the convex stepped portion 4 of the joint body unit finger 4
-2 is inserted, and the pin 9-4 is inserted into the corresponding through hole. Thereby, the joint body unit finger 4 is pivotally supported by the joint body unit end 3 so that the joint body unit finger 4 can rotate so that its rotation is restricted by contact with the outer wall surface of the joint body unit end 3.

Next, the operation of the multi-jointed finger 10 configured as described above will be explained.

In the state shown in Fig. 1, when compressed air is sent from the air piping 5-1 to the passage 1-1 of the joint body unit top 1, this compressed air passes through the passage 1-13 in the middle and then goes to the other end. is applied to opening 1-12. This other end side opening 1-1
The compressed air given to the joint body unit piston 6
The acting force acts on the flange surface of -1, and the acting force is applied to the bottom wall surface of joint body unino) 2-1, one end side opening part 2-1) a, bottom wall surface 2-1)
a (see FIG. 3(b)). As a result, the joint body unit 2-1 uses the bottom wall surface 2-1) a as a pressure-receiving surface, and the compression coil spring 8-1 with the pin 9-1 as the support axis.
It begins to rotate counterclockwise against the pressing force of No. 1.

On the other hand, the other end side opening 1-12 of the joint body unit top l
The compressed air given to the joint body unit piston 6-
1 passage 6-1) - intermediate passage 2 of joint body unit 2-1
-1) Passage 6-2 of 0-joint body unit piston 6-2
1 - It is given to the other end side opening 2-21b of the joint body unit 2-2 through the intermediate passage 2-21C of the joint body unit 2-2. Since the other end opening 2-21b is closed by the boss 3-1 of the joint unit end 3, the compressed air supplied to the other end opening 2-21b is transmitted to the boss 3-1 ( (including the O-ring 7) serves as a pressure-receiving surface and acts on the joint unit end 3. As a result, the joint unit end 3 begins to rotate counterclockwise about the pin 9-3. Then, the joint body unit end 3 rotates, and its outer wall surface becomes the joint body unit 2-
When it comes into contact with the outer wall surface of 2, this joint unit end 3
The joint unit 2-2 begins to rotate counterclockwise as it is pushed by the outer wall surface of the joint unit 2-2. That is, the joint body unit 2-2 begins to rotate counterclockwise about the pin 9-2 as a support shaft against the pressing force of the compression coil spring 8-2.

At this time, the distance between the outer walls of the joint units 2 to 1 and 2-2, which face each other with the joint unit piston 6-2 in between, increases, and the distance between the outer walls of the joint body units 2-1 and 2-2 increases, and the distance between the outer walls of the joint body units 2-1 and 2-2 increases, and the distance between the outer walls of the joint body units 2-1 and 2-2 increases, and the distance between the outer walls of the joint body units 2-1 and 2-2 increases, and the distance between the outer wall surfaces of the joint body units 2-l and 2-2, which are opposed to each other with the joint body unit piston 6-2 in between, increases. The compressed air comes to act on the flange surface of the joint body unit piston 6-2, and the acting force is transmitted to the bottom wall surface 2-21a of the one end side opening part 2-21a of the joint body unit 2-2. be done. That is, the bottom wall surface 2-21. With a as the pressure receiving surface, the joint body unit 2
A counterclockwise rotational force, that is, its own receiving force is added to -2, and the joint body unit 2-2 further rotates counterclockwise due to the combination of the contact with the joint unit end 3 and its own receiving force. Become something to do. When the outer wall surface of the joint body unit 2-2 comes into contact with the outer wall surface of the joint body unit 2-1, this contact of the joint body unit 2-2 adds to the receiving pressure of the joint body unit 2-2, and the outer wall surface of the joint body unit 2-2 It assists the rotation of the joint body unit 2-2 in the counterclockwise direction until it comes into contact with the outer wall surface of the unit top 1. FIG. 8 shows the operational status of this multi-joint technique 10. If the supply of compressed air from the air pipe 5-1 is cut off at an appropriate point, the joint body unit 2-1, 2-2 will move clockwise due to the return force of the compression coil spring 8-1, 8-2. As a result, the articulating body unit 2-1, 2-2 and the articulating body unit end 3 automatically return to their original positions, ie, the state shown in FIG.

As described above, according to the multi-joint technique 10 according to the present embodiment, the joint body unit finger 4 moves in an arc shape in cooperation with the joint body unit end 3, and the arc-shaped movement of the joint body unit finger 4 By using this, it becomes possible to perform tasks such as grabbing a target, for example. That is, according to the multi-joint surgery 10 according to the present embodiment, it is possible to achieve miniaturization with a simple structure without using magnetic materials, and moreover, it has many common parts and is therefore inexpensive. Moreover, the overall weight can be reduced and the response speed can be increased. Furthermore, it is easy to assemble and disassemble, and the structure is also simple.

FIG. 9 is a schematic block diagram showing a compressed air supply section for this multi-joint surgery IO.

This compressed air supply unit 20 is connected to the CPU 21-1. ROM2
1-2. RAM21-3. I10 port 21-4. It is composed of a control section 21 including a keyboard 21-5 and the like, and a compressed air supply source 22, and controls the timing and amount of compressed air supplied to the air pipe 51.

FIG. 10 is a front view showing another embodiment of the multi-joint surgery according to the present invention. In this figure, the same reference numerals as in FIG. 1 indicate the same or equivalent components, and the explanation thereof will be omitted. In this multi-joint surgery lO', as shown in the exploded view in Figure 1), the joint body unit pistons 6-1'' and 6-2' are shorter than the joint body unit pistons 6-1 and 6-2. ,
It is used in place of compression coil springs 8-1 and 8-2.

An air pipe 5-2 is connected to the open end portion 1-21 of the second passage 1-2 of the joint body unit top 1. In the multi-joint surgery 10'' configured in this way, even if the supply of compressed air from the air pipe 5-1 is cut off in the operating situation shown in FIG. 2
And the joint body unit end 3 does not automatically return to its original position. To return the joint body unit) 2-1.22 and the joint body unit end 3 to their original positions, connect the air pipe 5-
After cutting off the supply of compressed air from 1, the air pipe 5
-2 will supply compressed air.

That is, from the air pipe 5-2, the joint body unit 1
When compressed air is supplied to the passage 1-2, this compressed air passes through the passage 1-23 = joint body unit piston 6.
-1' passage 6-1)'' → Intermediate passage 2-12c of joint body unit 2-1 - Passage 6-21' of joint body unit piston 6-2'' → Intermediate passage 2- of joint body unit 2-2 22c, and is applied to the other end side opening 2-22b of the joint body unit 2-2.This other end side opening 2-2
The compressed air given to 2b is transferred to the other end side opening 2-2.
2b is closed by the boss 3-2 of the joint unit end 3, the front end surface of the boss 3-2 (including the O-ring 7) is used as a pressure receiving surface to connect the joint unit end
It acts on

As a result, the joint body unit end 3 begins to rotate clockwise about the pin 9-3 as a pivot. When the joint body unit end 3 rotates and its outer wall surface comes into contact with the outer wall surface of the joint body unit 2-2, the joint body unit 2-2 is pushed by the outer wall surface of the joint body unit end 3. Rotates clockwise around pin 9-2. When the joint body unit 2-2 contacts the joint body unit 2-1 via the joint body unit piston 6-2, the joint body unit 2-1 rotates clockwise about the pin 9-1. . When the joint body unit 2-1 contacts the joint body unit top 1 via the joint body unit piston 6-1, the joint body unit 2-1.2-2 and the joint body unit end 3 are moved as shown in FIG. It will return to the original position shown in the figure. Note that the joint body unit 2-1. 2-2 and the joint body unit end 3 rotate as a result of the external contact combined with the force received by themselves, but this point is omitted here to make the explanation easier to understand.

In addition, in each of the above-mentioned embodiments, in the joint body unilateral knob 1, the middle passage 1 of the first passage 1-1 is
-13 is made to face an eccentric position with respect to the opening of the other end side opening 1-12, but the other end side opening 1
It may be configured so that it faces at a position that coincides with the opening of -22.

In addition, in each of the above-mentioned embodiments, the joint body Uniso) 2
-1. Although the pressure receiving surface is provided in the fluid passing passage of 2 to 2, this pressure receiving surface does not necessarily have to be provided.

Further, in each of the above-mentioned embodiments, an example of a configuration in which two joint body units are combined is described, but by combining more joint body units, the arc-shaped movement stroke of the joint body unit finger 4 can be increased. You will be able to do fine movements using a large number of joints. In this case, for example, the first
As shown in Figure 3, there are joint body units 2-1 to 2-3 on both sides of the basic multi-joint surgery.
It is preferable to combine a large number of them for reinforcement. In the example shown in FIG. 13, in order to obtain a torque of 3 kg at the joint unit end 3, the joint unit 2-1 is reinforced to withstand a torque of 15 kg.

Note that the number of joint body units does not need to be a combination of two or more, and may be one. That is, FIG.
In FIG. 0, the joint body unit 2-1 may be omitted. In this case, the joint body unit top 1 is the first
The joint body unit 2-2 connects the second joint body,
Joint body unit end 3 corresponds to the third joint body.

In addition, in the embodiment shown in FIG.
If compressed air is sent from 1, joint body unit end 3
Although the outer wall surface of the joint body unit 2-2 is in contact with the joint body unit 2-2, it may be in contact with the joint body unit 2-2 via the boss 3-2. Further, in the embodiment shown in FIG. 10, when compressed air is sent from the air pipe 51, the outer wall surface of the joint body unit end 3 is connected to the joint body unit 2-2.
The outer wall surface of the joint body unit 2-2 is in contact with the outer wall surface of the joint body unit 21, and the outer wall surface of the joint body unit 2-1 is in contact with the outer wall surface of the joint body unit top 1. , the joint body unit end 3 contacts the joint body unit 2-2 via its boss 3-2, and the joint body unit 2-2 contacts the joint body unit 2-1 via the joint body unit piston 6-2'. In contact with the outer wall surface, the joint body unit 2
The outer wall surface of the joint body unit top 1 may contact the outer wall surface of the joint body unit top 1 via the joint body unit piston 6-1'.

〔Effect of the invention〕

As explained above, according to the multi-joint surgery according to the present invention,
When fluid is sent into the fluid passageway of the first joint body, this fluid is applied to the third joint body through the fluid passageway of the second joint body, and under the pressure of this applied fluid, the third joint body The joint body rotates and comes into contact with the second joint body. However, due to the contact of this third joint body, the second joint body rotates and comes into contact with the first joint body, which allows fine and smooth finger movements easily without using magnetic materials. This makes it possible to achieve a compact design with a compact configuration. Furthermore, the number of common parts is increased, and the product can be manufactured at low cost.

Furthermore, it is possible to reduce the overall weight and increase the response speed.

In addition, it has many excellent effects, such as being easy to assemble and disassemble, and having a simple structure.

Further, in the second invention, the joint body rotated in the first invention can be returned to its original position, and is suitable for use as a finger of a robot that performs an action such as grasping a target object.

In addition, in the third invention, the second joint body rotates in a manner that combines the abutment of the third joint body and the force received by itself, and the second joint body
This makes the movement reliable.

[Brief explanation of drawings]

FIG. 1 is a front view showing an embodiment of the multi-joint technique according to the present invention, FIG. a
), (bl and (C) are side views, front views, and plan views of the joint body unit used in this multi-joint surgery, Figure 4 Ta
1 and (b) are front and side views of the joint body unit end used in this multi-joint surgery, and Figures 5 (a) and (b) are
) are front and side views of the joint unit finger used in this multi-joint surgery, Figure 6 is an exploded view of this multi-joint surgery, and Figure 7 is a partially broken side view of the joint unit piston used in this multi-joint surgery. Fig. 8 is a front view showing the operational status of this multi-joint surgery, Fig. 9 is a schematic block diagram showing the compressed air supply section for this multi-joint surgery, and Fig. 10 is the present invention. Figure 1) is an exploded view of this multiple joint technique, Figure 12 is a front view showing the operation status of this multiple joint technique, and Figure 13 is its basics. FIG. 2 is a plan view illustrating a situation in which reinforcement is applied to a multi-joint technique. 1... Joint body unit top, 2-1.2-2...
Joint body unit, 3... Joint body unit end, 4.
...Joint body unit finger, 5-1゜2...Air piping, 6-1. 6-1', 6-2゜... Joint body unit piston, 8-1゜... Compression coil spring, 9-
1. 9-2 9-3゜...Pin, 10.10"...
・Multi-joint surgery.

Claims (3)

[Claims] (1) A first joint body having a fluid passing passage; and a first joint body having a fluid passing passage and communicating the fluid passing passage with the fluid passage passage of the first joint body; a second joint body rotatably supported and whose rotation is regulated by contacting the first joint body; and a fluid supply means for feeding fluid into the fluid passageway of the first joint body. and rotatably supported by the second joint body, and rotates in response to the pressure of the fluid applied through the fluid passages of the first and second joint bodies, and is rotated to the second joint body. A multi-jointed finger comprising a third joint body that abuts. (2) The multifunction device according to claim 1, further comprising return means capable of returning the joint body rotated as a result of sending fluid into the fluid passageway of the first joint body to its original position. Jointed fingers. (3) In claim 1, at least the second joint body is
A multi-jointed finger characterized by having a pressure-receiving surface in a direction in which the joint body is rotated in a fluid passageway thereof.