DE202005013380U1 - Multi-finger robot hand, comprises modular fingers and cover with exchangeable outer layer - Google Patents

Abstract

The hand has several movable fingers designed as modules (2). The base (1a) as well as the fingers (2) are covered by several layers of a suitable material. The outer layer can be exchanged if required by the particular purpose of the hand. Conductive foils positioned in a right angle are used to cover the joints (3) between the fingers (2). The conductor paths are adjusted to the position of the foil.

Description

The The invention relates to a hand-based robot hand and to this attachable fingers.

A Robot hand is an instrument that can be used in many ways. Usually are the finger surfaces from the same material as the hand, preferably aluminum or hard plastics. Fingertips are partially gummed or with a rubberized material coating provided for improved friction, for example, for gripping of objects to reach. Adjustments to specific environments are in general already in the special version and mechanics of a robot hand involved, such as in the NASA's hand.

in the In general, the surfaces of robotic hands are already mostly out of shape the for the hardware or mechanics of the robot hand essential components, the then possibly even with additional Cover parts are combined, which should prevent, for example, foreign parts get inside a robot's hand.

There, as mentioned above, any adjustments to special environments stuck in the construction The robot hand is an adaptation of a robot hand to equate with other tasks with a rebuilding of the robot hand.

To bridge a One degree of freedom hinges use flexible conductor foils which but only in one direction and that in the longitudinal direction of the conductor foil can be bent. Joints with two degrees of freedom are bridged with cables. To the Contact the cable is addi tional Space required. Furthermore, must be attached to the cable ends plug. The energy transfer via sliding contacts make is also disadvantageous because again the space requirement is large and Sliding contacts are also subject to wear.

task The invention is therefore to form a robot hand so that they in form and execution different tasks and demands is customizable and at the same time a secure data transfer via joints is guaranteed with one or two degrees of freedom. According to the invention This object is achieved by the features in the characterizing part of the claim 1 as well as in the directly and indirectly related to claim 1 claims.

Around varied with a robot hand Tasks to meet different requirements is according to the invention the respective hand base according to the to a robot hand formed and trained requirements. Furthermore, on the hand-base attachable fingers modular.

According to the invention is in particular on the stocked Robot hand and the modular fingers one at different Tasks adapted, removable cover provided with appropriate surface finish. Advantageously, the shell can be designed in one or more layers, wherein preferably only the uppermost layer be designed to be removable can.

Around for example, to use a robot hand in the service area, their surface should be pleasant to be touched and a pleasing Appearance. A robot hand for use in one for humans dangerous The environment must be correspondingly robust and additionally one specifically to this dangerous Environment adapted surface have. To grip objects with a smooth surface with the robot's hand and to lift, the surface must be the envelope or the topmost layer of a shell be designed to be particularly slip-resistant.

Around to be able to bridge a joint with two degrees of freedom are according to a advantageous development of the invention at right angles to each other aligned, in one piece trained strip-shaped Conductor foil sections provided, which are parallel to each other running tracks are adapted to the course of the conductor foil sections. Due to this design of the conductor foil sections it is possible one conductor foil section in one direction and the other Conductor film section in a direction perpendicular thereto to bend.

by virtue of this formation of the perpendicularly oriented conductor foil sections twisting the conductor foils is no longer necessary and it there is also no risk that conductor foils are damaged by kinking or Breaking conductor tracks by kinking and thereby interrupted.

Around to allow twisting to some extent is according to the invention provided, between only every second or third trace a conductor foil extending parallel to the conductor tracks slots or if higher flexibility the interconnects with respect to a twist (twist) makes sense appears, can the cuts are provided between all tracks.

Since the available space in Ge steering is often very limited, is provided according to the invention to accommodate a strip-shaped conductor foil portion in a running in the direction of the finger module longitudinal axis slot in a joint covering such a joint.

For this is according to the invention by folding parallel and centered to a strip-shaped conductor foil a ridge-shaped Film section created. In the area of the web-shaped film section to exclude a breakage of the film is in the web-shaped area additionally a slot introduced. Advantageously, the conductor tracks so applied that they fold edges each at right angles cross.

following The invention will be explained with reference to drawings. Show it:

1a and 1b in a plan view and in a sectional view of a conventionally executed hand base with attached fingers;

2a to 2d various forms of training of a hand base adapted to corresponding tasks and requirements;

3 the area of a joint covered by a shell of a finger module;

4a in plan view prepared for folding conductor foil;

4b and 4c in a side view and a plan view of a folded conductor foil, and

5 in plan view at right angles to each other aligned conductor foil sections.

In 1a and 1b is a conventional in-plane hand base in plan view and front view 1 schematically reproduced on which also schematically reproduced fingers 2 are attached. Furthermore, via a pivoting unit 3 one with your fingers 2 corresponding thumb shown.

In 2a is a schematic front view of a curved or curved hand base 1a reproduced, on which three finger modules 2 are directly attached and a so-called identical thumb finger module 2 via a swivel unit 3 connected.

Also in a front view is in 2 B a tripartite hand base 1b reproduced, wherein the individual hand base sections are arranged at an acute angle, for example, an angle of 60 ° to each other.

In 2c is also a narrow hand base in plan view 1c reproduced on which a flexed finger module 2 as well as a swivel unit 3 a likewise flexed finger module 2 are attached.

In 2d is a schematic representation of a hand base corresponding arched base element 1e reproduced on the upper side, where appropriate, also underside a total of six finger modules 2 are attached.

In 3 is a joint portion of an indicated finger module 2 shown, wherein the joint through a cup-shaped cover 8th is covered. Towards the finger module longitudinal axis is a narrow slot 7 educated.

In 4a is a conductor foil in plan view 5 with printed conductors applied to it 6 shown. In the middle of the track is indicated by dashed lines center line. Further, transverse and at an acute angle to this center line are different fold lines 10 indicated by dashed lines. In the area of the centerline at an acute angle arranged fold lines 10 are trace sections 6a shown at right angles to the aforementioned fold lines 10 run. This course effectively prevents breakage or buckling of the corresponding conductor tracks.

With the reference number 9 is a web or web-shaped conductor foil section, which is longitudinally slotted in the direction of the center line. Through the longitudinal slot 11 Make sure that the of the web-shaped conductor film section 9 weggehen foil areas in the folded state close to each other, without the risk that the conductor foil 5 would break or break at this point.

During the final assembly of a finger module 2 be before putting the cup-shaped cover 8th the bar-shaped section 9 in the slot 7 introduced; the an adjacent section of the track 5 will be in the in 3 upper part of the finger module 2 introduced while the other in 4a lower part in the lower part of the finger module 2 is introduced. In this way, the appropriate 4a to 4c folded conductor foil 5 easily under the cup-shaped cover 8th be housed without the conductor foil 5 must be deformed, and without bending the finger module 2 is impaired in any way.

In 5 are for bridging a hinge unit, not shown, with two degrees of freedom integrally formed strip-shaped conductor foil sections 5a . 5b represented, like the top view in 5 can be seen, are aligned at right angles. On the conductor foil sections 5a and 5b are mutually parallel conductor tracks 6 so applied that they are adapted to the course of the conductor foil sections. In the area of a dashed line are the traces 6 at right angles to the conductor foil 5a . 5b applied.

Due to this design of the conductor foil sections 5a and 5b As well as the arrangement of the strip conductors, it is ensured that the two strip conductor sections 5a and 5b can be bent in mutually perpendicular directions without the risk that the conductor foil is twisted. In this way, there is also a bending or breaking of the conductor foil 5a . 5b as well as the applied on her tracks 6 prevented.

at the previously used robot hands The fingertips or heads have a relatively complicated geometry on. Therefore, there are striking forces only with great effort to capture and with an even greater computational effort exactly determine. In a further development of the invention is proposed, the Fingertip as a spherical Form finger end portion, on which finger side either a circular cylinder or an ellipsoidal body connects. In the event of an ellipsoidal Section must be the surface of the ellipsoid tangent to the surface of the spherical section connect.

In order to detect the generally low forces and moments impinging on such a trained fingertip, an in DE 102 17 019 C1 described high-precision force-moment sensor can be used.

1

hand basis

1a-1d

hand basis

1e

base element

2

finger module

3

swivel unit

5

conductor foils

5a, 5b

Conductor foils sections

6

conductor tracks

7

slot

8th

cup-shaped cover

9

Bridge / bar-shaped section

10

wrinkles

11

Slot in 9

Claims (6)

Robotic hand with a hand base and attachable fingers, characterized in that the hand base ( 1a to 1d ) is shaped and configured according to the respective requirements imposed on a robot hand, that at the hand base ( 1a to 1d ) attachable fingers ( 2 ) are modular and on the equipped hand base ( 1a to 1d ) as well as the modular fingers ( 2 ) A different tasks adapted, removable cover is provided with appropriate surface finish. Robot hand according to claim 1, characterized that the case one or more layers and only the top layer is made removable. Robot hand according to claim 1, characterized in that for bridging a joint unit with two degrees of freedom optionally multiple, aligned at right angles, integrally formed strip-shaped conductor foil sections ( 5a . 5b ) with the course of the conductor foil sections ( 5a . 5b ) adapted and parallel to each other conductor tracks ( 6 ) are provided. Robot hand according to claim 1, characterized in that between only every second / third or all interconnects ( 6 ) of a conductor foil ( 5 ) are introduced parallel to the conductor tracks extending cuts. Robot hand according to claim 1, characterized in that for accommodating a web-shaped slotted conductor foil section ( 9 ) in a slot extending in the direction of the finger module longitudinal axis ( 7 ) in a joint covering shell ( 8th ) a strip-shaped conductor foil ( 5 ) is folded so that the web-shaped film section by folding parallel and centrally to the conductor foil ( 5 ) is formed, wherein conductor track sections ( 6a ) are applied so that they fold edges ( 10 ) in each case cross at right angles. Robot hand according to claim 1, characterized that at the ends of the fingers a circular cylindrical or ellipsoidal section in a spherical one Finger end section passes.