JPH061345Y2 - Manipulator hand - Google Patents

Description

Detailed Description of the Invention A. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manipulator hand capable of reliably grasping an object regardless of its shape.

B. SUMMARY OF THE INVENTION The present invention comprises at least three gripping means for driving a finger via a constant torque transmission mechanism, and meshes input gears of these gripping means with a single output gear connected to the first driving means. In the manipulator hand, at least one supporting body to which one of the gripping means is attached is provided, and the supporting body is rotatably attached to the hand main body about the supporting shaft parallel to the axis of the input gear, and the second drive is applied to the supporting body. By connecting the means, at least one of the plurality of gripping means arranged to face each other is independently arranged so that a sphere or an object having a complicated shape can be surely gripped from at least three directions.

C. 2. Description of the Related Art Generally, when grasping an object, an object of any shape can be easily grasped as long as it has five fingers having a plurality of joints like a human hand. A device having five fingers as shown in FIGS. 5 to 7 has been proposed (Japanese Patent Application No. 60-168338).
reference).

The hand body 6 is attached to the end of the arm of the manipulator (not shown).
Is attached, and an output shaft 7 connected to a motor or the like (not shown) as a first drive means is rotatably provided at the center of the hand body 6. An output gear 8 is formed at the tip of the output shaft 7, and five gripping means 1 to 5 are arranged around the output gear 8 so as to face each other. Opposing means not necessarily facing each other, but at least 2
A state in which the object can be gripped by the above-mentioned gripping means from two opposite directions. These gripping means 1 to 5 are arranged at the positions shown in FIG. 7, and the input gear of each gripping means meshes with the output gear 8 at its outer periphery.

Since the gripping means 1 to 5 have the same structure, only the gripping means 2 will be described. The finger includes a first finger 2a, a second finger 2b, and an auxiliary finger 2c. That is, the base end portion of the first finger 2a is rotatably rotatable via the pin 2d perpendicular to the paper surface of FIG.
Of the second finger 2b is rotatably connected to the tip of the first finger 2a via a pin 2e, and the center of the second finger 2b is rotatably connected to the lid 9 attached to the inside of the hand body 6 via the pin 2f. The distal end of the auxiliary finger 2c, whose base end is rotatably connected, is rotatably connected to the base end of the second finger 2b via a pin 2g. And
The input gear 2h and the first finger 2 which mesh with the output gear 8
The base end of a is connected via a worm / worm wheel mechanism and a constant torque transmission mechanism.

Next, the worm / worm wheel mechanism and the constant torque transmission mechanism will be described. The transmission shaft 2j, which is arranged parallel to the output shaft 7 and has the worm 2i, has a bearing 2k,
It is rotatably supported by 2l and the worm 2i
Engages with a worm wheel 2m formed at the base end of the first finger 2a. The above-described input gear 2h is rotatably inserted through the transmission shaft 2j, and the input gear 2h meshes with the output gear 8. The input gear 2h has an inner peripheral surface formed with a concavo-convex surface 2n in which concavo-convex portions are sequentially provided in the circumferential direction. That is, the through hole 2r is formed orthogonal to the axis of the transmission shaft 2j, and the two steel balls 2 are sandwiched by the spring 2q.
p is pushed into the through hole 2r to form a ball clutch (constant torque transmission mechanism).

Although the gripping means 2 has been described above, the other gripping means have the same structure.

Next, the operation of such a manipulator hand will be described.

When the output shaft 7 is rotated in the positive direction by the first drive means (not shown), the input gears 1h to 5h are simultaneously rotated via the output gear 8. Then, the first fingers 1a to 5a are respectively bent inward around the pins 1d to 5d, and the second fingers 1b to 5b are also moved to the first fingers 1a to 5a.
The member is bent by bending inward with respect to 5a. Gripping means 1
Although one of the five arrives early and the other arrives late at the object to be grasped by the second finger, the power is transmitted by the single output shaft 7. Since the power is transmitted to the member via the ball clutch, the gripping means of the second finger arriving at the member earlier applies a resistance force of a predetermined torque or more to stop the rotation of the first finger, and the other fingers are connected to the member. Continue to rotate until you arrive at.

Since the gripping means have the same structure and perform the same operation as described above, only the operation of the gripping means 2 will be described here. The rotational force of the output gear 8 is transmitted to the transmission shaft 2j via the input gear 2h, and is transmitted to the first finger 2a via the worm 2i and the worm wheel 2m integrated with the transmission shaft 2j. As shown by the solid line in FIG. 6, when the finger is open, the pin 2g is located near the outside of the first finger 2a, so the second finger 2b is slightly bent inward with respect to the first finger 2a. However, when the first finger 2a rotates to the right in FIG. 6 to close the finger as shown by the chain double-dashed line, the pin 2g moves further outside the first finger 2a than in the above state. However, the degree of bending of the second finger 2b with respect to the first finger 2a is increased. That is, the presence of the auxiliary finger 2c causes the second finger 2b to bend inward as the person's hand closes the first finger 2a as in the case of gripping the object, so that the object can be easily grasped. Second finger 2
When b comes into contact with the object, the first finger 2a cannot rotate any more, and when the torque resistance applied to the first finger 2a exceeds a certain value, the power of the input gear 2h to the transmission shaft 2j is increased by the action of the ball clutch. Will not be transmitted and the input gear 2h will idle. This is because when the torque resistance of the transmission shaft 2j is small, the urging force of the spring 2q pushes the steel ball 2p into the concave portion of the uneven surface 2n formed in the input gear 2h and the power is transmitted from the input gear 2h to the transmission shaft 2j. When the rotation of the transmission shaft 2j is restricted and the torque resistance becomes large, the steel ball 2p is pushed back by a force larger than the biasing force of the spring 2q, and the steel ball 2p is biased to the uneven surface 2n, but is input. This is because only the gear 2h will rotate.

As described above, the rotation of the output shaft 7 is stopped when the five second fingers 1b to 5b have grasped the object, but each finger is opened due to the weight of the grasped object and the object is dropped. There is nothing to lose. This is because the worm 2i and the worm wheel 2m work so that the worm 2i cannot be rotated by the rotational force of the worm wheel 2m. All fingers can be opened by rotating the output shaft 7 in the opposite direction. In this case as well, there are some that open earlier and some that open later, but in the gripping means that has finished opening first, when the first finger hits the outer peripheral portion of the hand body 6, the ball clutch exerts its function in the same manner as described above, and the input is performed. Gears spin idle. The rotation of the output shaft 7 may be stopped when all the fingers have been opened.

In this way, each of the fingers starts to open and close at the same time, and when a certain torque resistance is applied to each of the fingers, the rotation of the fingers is stopped, as if the driving means is individually connected to each of the fingers. It behaves like a hand.

D. The problem to be solved by the invention is that when only the gripping means arranged opposite to each other, a sphere or an object having a complicated shape cannot be reliably and stably gripped, and the gripping means is gripped from three or four directions. However, there is a drawback in that long objects cannot be grabbed when placed.

Then, this invention aims at providing the manipulator hand which solved such a fault.

E. Means for Solving the Problems The structure of the present invention for achieving such an object is such that a hand body attached to a tip of an arm of a manipulator is provided with an output gear rotatably and is arranged to face each other. While each input gear of at least three or more gripping means is meshed with the output gear, a first driving means is interlockingly connected to the output gear, and the gripping means has a finger whose base end is rotatably coupled to the hand body. And a worm / worm wheel mechanism interposed between the input gear and the finger, and a constant torque transmission mechanism interposed between the input gear and the worm in the worm / worm wheel mechanism. At least one supporting body to which one of the It is characterized in that it is rotatably attached to the hand main body, and the second drive means for rotating the support is linked to the support.

F. When the target object is a long material, the target object is gripped as described above with the gripping means arranged oppositely.

On the other hand, when the object is a sphere such as a sphere, the support is rotated about the support shaft by the second driving means so that the gripping means is positioned in, for example, three directions with respect to the object.
Then, the first drive means is rotated in the reverse direction to once open all the fingers to the maximum opening degree, and then the first drive means is rotated in the forward direction. Then, each finger will grab the object from three directions. Unlike the case where a target object such as a sphere is gripped oppositely from two directions, the direction in which the target object escapes is blocked by the independently arranged fingers, so that the target object can be reliably gripped.

G. Embodiment Hereinafter, the present invention will be described in detail based on an embodiment shown in the drawings. Since this embodiment is an improvement of a part of the conventional manipulator hand, the same parts are designated by the same reference numerals, and the description thereof will be omitted. Only different parts will be described.

First, a first embodiment of the present invention will be described with reference to FIGS.

In this embodiment, the gripping means 1 shown in FIG. 2 is configured to rotate around the axis of the input gear 1h. As shown in FIG. 1, the gripping means 1 is attached to the support 11. That is, a pin 1d that rotatably supports the worm wheel 1m, a transmission shaft 1j having a worm 1i, and an input gear 1h attached to the transmission shaft 1j are attached to the support body 11. The support 11 is a member shown in a substantially U-shaped cross section in FIG.
The support shafts 14 and 15 concentric with j are connected and the support shaft 1
Numerals 4 and 15 are rotatably provided on the hand body 6 via bearings 12 and 13 and a bearing member 17 attached to the hand body 6 via bolts 16. The support shaft 14 is connected to a second drive means (not shown).

In order to rotate the gripping means 1 with respect to the hand body 6 around the support shafts 14 and 15, the support 11 is rotated via the support shaft 14 by the second driving means (not shown). By rotating the support 11 around the support shafts 14 and 15, the gripping means 1 can be rotated within a range of α≈180 ° in FIG. It can be arranged oppositely in cooperation with the lower gripping means or independently as shown. The fixing after rotating the support 11 to rotate the gripping means 1 is performed by fixing the rotating shaft of the second driving means. By rotating the gripping means 1, the worm wheel 1m revolves around the stationary worm 1i, and the worm wheel 1m rotates. Therefore, the gripping means 1 is rotated even if other fingers are stationary. Only the finger of the door opens and closes a little.
Therefore, there may be a case where the fingers of all the gripping means have to be opened once to the maximum opening degree and then the object should be gripped.

Next, a second embodiment will be described based on FIGS. 3 and 4.

In this embodiment, the gripping means 1 shown in FIG. 4 is configured to rotate around the axis of the output gear 8. As shown in FIG. 3, the gripping means 1 is attached to the support 18.
In this embodiment, the left side of the support 18 in the drawing extends downward and is rotatably supported by the hand body 6 via a bearing 19 surrounding the output shaft 7, and the right side also extends downward and is screwed to the hand body 6. It is rotatably supported via a screw 20 and a bearing 21 which are fitted together. A gear 21 that rotates around the output shaft 7 is formed on the left side of the support 18, and a gear 23 that is integral with the output shaft 22 connected to the second drive means meshes with the gear 21.

In order to rotate the gripping means 1 with respect to the hand body 6 about the output shaft 7 that also serves as the support shaft of the support 18, the output shaft 22 is rotated by the second drive means (not shown). Then, the rotational force is transmitted to the support 18 via the gears 23 and 21, and the support 18 rotates about the output shaft 7 within the range of β in FIG. That is, the input gear 1h is the input gear 2
It is possible to rotate in a range that does not interfere with h or the input gear 3h. In the case of the present embodiment, since the gripping means 1 rotates about the output shaft 7, the fingers of the gripping means 1 are not arranged in parallel with the fingers of the other gripping means. Also in the case of this embodiment, the other action of the gripping means 1 is that the output shaft 7
The description is omitted because it is substantially the same as that of the first embodiment except that it is rotated about.

In addition, in the embodiment shown here, the case where five sets of gripping means are provided is shown, but three sets or more may be provided. Further, the rotatable gripping means is not limited to one set, and two or more sets may be provided.

H. Effect of the Invention As described above, according to the manipulator hand of the present invention, at least one supporting body to which one of the gripping means is attached is provided and the supporting body is rotatable about the supporting shaft parallel to the axis of the input gear. Is attached to the hand body and the second drive means is connected to the support body, so that by arranging at least one of the gripping means independently, even a sphere or an object having a complicated shape (for example, a handle of a spanner or an impact wrench) can be used. Can be reliably and stably held from four directions or four directions. Also, when grasping a long object,
By arranging the gripping means so as to face each other, it is possible to stably grip.

[Brief description of drawings]

1 and 2 relate to a first embodiment of a manipulator hand according to the present invention. FIG. 1 is a partially cutaway front view, FIG. 2 is a right side view, and FIGS. 3 and 4 are A second embodiment of a manipulator hand according to the present invention, FIG. 3 is a partially cutaway front view, FIG. 4 is a right side view, and FIGS. 5 to 7 are conventional manipulator hands. Figure 5 is an external view, No. 6
The drawing is a front sectional view, and FIG. 7 is a side sectional view. 1-5 ... gripping means, 1a-5a ... first finger, 1b
-5b ... 2nd finger, 1c-5c ... Auxiliary finger, 1h-5h ... Input gear, 1i-5i ... Worm, 1
m-5m ... worm wheel, 1n-5n ... uneven surface, 1
p-5p ... Steel ball, 1q-5q ... Spring, 1r-5r
... through hole, 2p ... steel ball, 2q ... spring, 6 ... hand body, 7 ... output shaft, 8 ... output gear, 11, 18 ... support, 1
4, 15 ... Support shafts, 21, 23 ... Gears.

Claims (1)

[Scope of utility model registration request] 1. A man body equipped with a hand body attached to the tip of an arm of a manipulator, which is rotatably provided with output gears, and at least three input means of gripping means arranged to face each other mesh with the output gears. On the other hand, the output gear is connected to the first drive means in an interlocking manner, and the gripping means is a worm / worm wheel mechanism that is interposed between the input gear and the finger and the finger whose base end is rotatably coupled to the hand body. And a constant torque transmission mechanism interposed between the input gear and the worm in the worm / worm wheel mechanism, in a manipulator hand, wherein at least one support body to which one of the gripping means is attached is provided and the support body is provided. Is attached to the hand body rotatably around the axis of the input gear or output gear, and the support is rotated. Manipulator hand, characterized in that the second drive means is operatively connected to the support to be.