WO2002058896A1 - Dispositif de main à plusieurs doigts - Google Patents
Dispositif de main à plusieurs doigts Download PDFInfo
- Publication number
- WO2002058896A1 WO2002058896A1 PCT/JP2002/000375 JP0200375W WO02058896A1 WO 2002058896 A1 WO2002058896 A1 WO 2002058896A1 JP 0200375 W JP0200375 W JP 0200375W WO 02058896 A1 WO02058896 A1 WO 02058896A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- finger
- finger mechanism
- joint
- hand
- members
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/30—Joints
- A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
- A61F2002/30003—Material related properties of the prosthesis or of a coating on the prosthesis
- A61F2002/3006—Properties of materials and coating materials
- A61F2002/30069—Properties of materials and coating materials elastomeric
- A61F2002/3007—Coating or prosthesis-covering structure made of elastic material, e.g. of elastomer
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
- A61F2002/587—Thumbs
Definitions
- the present invention relates to a robot multi-fingered hand device.
- a multi-fingered hand in which a plurality of finger mechanisms corresponding to human fingers are extended from a hand portion to perform an operation such as grasping an object.
- Devices are conventionally known.
- each finger mechanism usually has a structure in which a plurality of inter-joint members corresponding to the skeleton of a human finger are connected via joints. It can be bent and stretched by rotating motion.
- the joint member of each finger mechanism of the multi-finger hand device is usually formed of a hard material such as metal. For this reason, it is not possible to damage the object when gripping the object with the multiple finger mechanisms of the multi-finger hand device, or to damage the object when the finger mechanism hits the object when moving the multi-finger hand device. There was a possibility that this would be inconvenient.
- the present invention has been made in view of such a background, and can perform a gripping operation or the like of an object without damaging the object, and can further prevent dirt and improve maintainability. It is intended to provide a device. Disclosure of the invention
- the multi-fingered hand device of the present invention has In a multi-fingered hand device having a plurality of finger mechanisms, each of which is extended and sequentially connects a plurality of inter-joint members via finger joints, the inter-joint member of each finger mechanism is A buffer member covering the outer peripheral surface is attached to the internode member, and the buffer members attached to the adjacent internode members of each finger mechanism are separated from each other at joints between the adjacent internode members. It is characterized by the fact that it has been established.
- the cushioning member for covering the outer peripheral surface is attached to the internode member of each finger mechanism, even if the finger mechanism hits any object, the shock at that time is reduced.
- the cushioning members corresponding to each of the inter-joint members of each finger mechanism that are adjacent to each other are separated at the joints between the adjacent inter-joint members, so that Bending and stretching operations can be performed without any trouble.
- the multi-fingered hand device of the present invention it is possible to perform a gripping operation or the like of an object without damaging the object.
- the material of the cushioning member is, for example, urethane rubber.
- each of the finger mechanisms is provided so as to be able to bend and extend by the rotation operation of the internode member around each joint
- a buffer corresponding to each of the adjacent internode members of each finger mechanism is provided.
- the gap between the members is preferably provided so as to extend from the joint side between adjacent internode members toward the abdomen of the finger mechanism.
- the cushioning members of each finger mechanism come into direct contact with the object when the multi-hand device grasps an object or the like.
- the buffer member is easily soiled.
- the cushioning member is Since a certain thickness is generally required to secure the buffering effect, it tends to be relatively expensive.
- the present invention may further include a bottomable tubular elastic elastic bar member which is externally inserted into each finger mechanism including the buffer member and whose end on the tip side of the finger mechanism is closed. preferable.
- each finger mechanism by providing an elastic cover member for each finger mechanism by extrapolating the same, it is possible to prevent the buffer section from being stained. Further, since the elastic cover member may be relatively thin, it can be relatively inexpensive. Since the elastic cover member is extendable and contractible, each finger mechanism can be used without any trouble. Bending and stretching operations can be performed.
- each of the finger mechanisms in a case where each of the finger mechanisms is provided so as to be able to bend and extend by the rotation operation of the internode member around each joint thereof.
- the elastic cover member of each of the finger mechanisms is configured such that its abdominal surface is curved toward the joint at each joint of the finger mechanism when the finger mechanism is bent.
- the abdominal side surface of the elastic cover member of the finger mechanism curves toward the joint at the joint of the finger mechanism and is recessed inward.
- the ventral side of the elastic cover member protrudes outward (in the direction away from the joint) at the bent part of. For this reason, it is possible to avoid a situation in which the elastic force bar member gets in the way during the operation with the multi-fingered hand device or is attracted to foreign matter.
- a concave portion is formed in advance at the position, or the window is moved toward the joint in advance. And the like.
- each finger mechanism is provided with the internode member around each joint.
- the elastic cover member of each finger mechanism is so formed as to generate a restoring force for urging the finger mechanism toward the extension side when the finger mechanism is bent. It is preferable that the finger mechanism is formed in advance in a shape conforming to the outer shape in an extended state.
- each finger mechanism is urged to the extension side by an urging means such as a panel, and the bending motion of the finger mechanism is driven by an actuating mechanism such as an electric motor. Done.
- an urging means such as a panel
- an actuating mechanism such as an electric motor.
- the elastic cover member of each of the finger mechanisms is formed so that at least a part of the back side of the finger mechanism is thicker than the ventral side.
- the finger mechanism is integrally connected to at least one of the elastic cover members, and is detachably attached to the hand portion so as to cover the surface of the hand portion. It is preferable to provide a configured elastic bar member.
- the elastic cover member of each of the finger mechanisms is preferably made of an elastomer. According to this, the elastic cover member can be manufactured relatively inexpensively.
- FIG. 1 is a plan view of the multi-fingered hand device according to the first embodiment of the present invention as viewed from the palm side
- FIG. 2 is a plan view of a main part of the multi-fingered hand device of FIG. 1
- FIG. FIG. 4 is an explanatory view of the operation of the finger mechanism of the multi-finger hand device of FIG. 1
- FIG. 5 is a longitudinal section of the finger mechanism of the multi-finger hand device of the second embodiment of the present invention.
- FIG. 6 is a longitudinal sectional view of the finger mechanism of the multi-fingered hand device according to the third embodiment of the present invention
- FIG. 6 is an external side view of the finger mechanism of FIG. 6
- FIG. 8 is a view of the fourth embodiment of the present invention.
- FIG. 3 is a vertical sectional view of a finger mechanism of the multi-finger hand device.
- the multi-finger hand device of the present embodiment has a configuration in which five finger mechanisms 1 a to 1 e are extended from a hand 2 in the same manner as a human hand.
- the finger mechanisms 1a to 1e correspond to the thumb, index finger, middle finger, ring finger, and little finger of a human hand, respectively.
- the hand part 2 has a palm forming member 3 and a hand forming member 4 whose outer surfaces form a palm side surface (the front side in FIG. 1) and a palm side surface (the back side in FIG. 1), respectively.
- the space between the palm forming member 3 and the back forming member 4 (the internal space of the hand portion 2) is provided by a driving mechanism (not shown) for operating the finger mechanisms la to le. It is a storage section.
- the proximal end of the hand part 2 is connected to the arm 5 of the robot.
- the finger mechanisms 1 b to le other than the finger mechanism 1 a corresponding to the thumb are the distal end of the hand 2 (the end opposite to the base end of the arm 5). It extends almost forward (upward in Fig. 1).
- These four finger mechanisms lb to le have the same basic structure, and the structure will be described below with reference to FIGS.
- FIGS. 2 to 4 are drawings showing the structure of the finger mechanism 1c corresponding to the middle finger, but the finger mechanisms lb to le have the same basic structure and have only a partial size. Because they are different, in this description, FIGS. 2 to 4 are used to represent the respective structures of the finger mechanisms 1b to 1e.
- each of the finger mechanisms 1 b to 1 e has three internode members 6 to 8 and three joints 9 to 11 as its main body members. It has a structure in which internode members 6 to 8 are sequentially connected via joints 9 to 11 from a fixing member 12 fixed to the hand part 2.
- the fixing member 12 is fixed to the back-forming member 4 inside the hand part 2 as shown in FIG. 3, and one end of each of the finger mechanisms 1 b to Projection is made via opening holes 13 formed corresponding to each of 1e.
- An internode member 6 is connected to one end of the fixing member 12 via a joint 9.
- each joint 9 to 11 has one joint axis 9 a, 10 a, 11 a as a rotation axis in the same direction (substantially the width of the hand part 2).
- Direction the internode members 6 to 8 can rotate around the axis of the joint shaft 9a to 11a with respect to the fixed member 12, the internode member 6, and the internode member 7, respectively. It has been.
- the finger mechanisms 1 b to 1 e can be bent and stretched by the rotation of the internode members 6 to 8 at the joints 9 to 11. In the multi-fingered hand device of the present embodiment, these fingers are used.
- Mechanism lb ⁇ le Has a link mechanism 14 comprising a link arm 14 for connecting the fixed member 12 and the internode member 7 and a link arm 15 for connecting the internode member 6 and the internode member 8. .
- one end of the link arm 14 is rotatably mounted on the fixed member 12 at a position behind (below the lower part of FIG. 3) each finger mechanism 1 b to 1 e with respect to the joint shaft 9 a.
- the other end is rotatably supported by the internode member 7 at a window on the ventral side (upper side in FIG. 3) of each of the finger mechanisms 1 b to 1 e with respect to the joint shaft 10 a.
- the link arm 15 is rotatably supported at one end by the inter-joint member 6 at a position behind the joint axis 10a behind the finger mechanisms 1b to 1e, and the other end is provided. Is rotatably supported by the internode member 8 at a position on the ventral side of each of the finger mechanisms 1 b to 1 e with respect to the joint shaft 11 a.
- the inter-joint member 6 When the inter-joint member 6 is rotated with respect to the fixed member 12 by the link mechanism 16 including the link arms 14 and 15, the inter-joint member 7 moves with respect to the inter-joint member 6 in conjunction with the rotation.
- the internode member 8 rotates with respect to the internode member 7 in conjunction with the rotation of the internode member 7. Accordingly, the bending and stretching operations of the finger mechanisms 1 b to 1 e are performed by rotating the internodal member 6 around the joint axis 9 a with respect to the fixed member 12.
- each of these finger mechanisms 1 b to 1 e has an internode member 6 in an extended state (panel biasing means). (The state shown in Fig. 3) (as a result, the entire finger mechanism 1b to 1e is urged to the extended state), and the drive is configured using wires, pulleys, electric motors, and the like.
- the bending operation of each finger mechanism 1 b to 1 e is performed as shown in FIG. 8 is rotated so as to approach the palm side of the hand portion 2).
- each inter-joint member 6 to 8 of each finger mechanism 1 b to 1 e The cushioning members 17 to 19 covering the respective outer peripheral surfaces are respectively mounted.
- the material of these cushioning members 17 to 19 is, for example, rubber rubber.
- the cushioning member 17 attached to the internode member 6 and the cushioning member 18 attached to the internode member 7 adjacent thereto are provided. Is spaced apart at the joint 10 between the internodal members 6 and 7.
- the cushioning member 18 attached to the interstitial member 7 and the cushioning member 19 attached to the interstitial member 8 are separated at the window of the joint 11 between the interstitial members 7.8. It is provided.
- the buffer members 17 and 18 adjacent to each other are arranged closer to each finger mechanism than the joint axis 10 a of the buffer members 17 and 18. It approaches at a point on the ventral side of 1b to 1e and separates from the joint axis 10a at a point on the back side of each finger mechanism 1b to 1e. For this reason, the gap between the cushioning members 17 and 18 is bent particularly at the ventral side of each finger mechanism 1 b to 1 e with respect to the joint axis 10 a.
- the finger mechanisms 1b to 1e are provided so as to spread toward the abdominal surface so that they do not come into contact with each other at times (see Fig. 3).
- the gap between the buffer members 18 and 19 adjacent to each other is located at the position on the ventral side of each finger mechanism 1 b to 1 e with respect to the joint shaft 11 a.
- the finger mechanisms 1b to 1e are provided so as to spread toward the ventral surface (see Fig. 3).
- the finger mechanism lb to le includes a finger elastic cover member 20 b to 20 e so as to cover the outer surface of each mechanism 1 b to 1 e including the buffer members 17 to 19, respectively. Extrapolated to the extent possible.
- Each of the finger elastic cover members 20 b to 20 e is a thin cylindrical member in which one end on the distal end side of the finger mechanism 1 b to 1 e is closed. (Elastomeric cover members for each finger 20 b to 20 e can be used as cushioning members 17 to 19 for each finger mechanism 1 b to 1 e.) Is almost equivalent to the outer diameter of There). In this case, the other end (opening end) of each of the elastic cover members 20b to 20e for the fingers is, as shown in FIG. Inserted inside part 2.
- the finger elastic cover members 20b to 20e are made of an elastomer such as rubber, for example, and can be expanded and contracted.
- the finger mechanism 1a corresponding to the thumb is shown in FIG. As shown, it extends from the side of the hand part 2 (behind the finger mechanism lb) diagonally forward, and as its main body member, the joint 2 of the two internode members 2 1, 2 2 and 2 ⁇ 3 and 24. Then, the finger mechanism la sequentially connects the internode members 21 and 22 from the fixing member 25 fixed to the back-forming member 4 inside the hand part 2 and sequentially connects the joints 23 and 24.
- the structure is connected via
- Each joint 23, 24 has one joint axis 23a, 24a as a rotation axis, respectively, and the internode members 21, 22 are fixed members 25, internode members 2 respectively. It is possible to rotate around the axis of joint shafts 23a and 24a with respect to 1.
- the finger mechanism la can be bent and extended by the rotation of the internode members 21 and 22 at the joints 23 and 24.
- the finger mechanism la is configured such that the internode members 21 and 22 are respectively urged by a panel (urging means) to an extended state (a state shown in FIG. 1), and a wire or a wire is used.
- a driving mechanism constituted by a pulley, an electric motor, or the like
- the bending operation of the finger mechanism 1 a is performed.
- the inter-members 21 and 22 rotate so that the tip of the finger mechanism 1 a approaches the finger mechanisms 1 b to 1 e).
- cushioning members 26 and 27 that cover the outer peripheral surfaces are attached to the internode members 21 and 22 of the finger mechanism 1a, respectively. These cushioning members 26 and 27 are provided apart from each other at the joint 24 therebetween. And the gap between the cushioning members 26 and 27 As in the case of the finger mechanisms 1 b to 1 e described above, the portion of the finger mechanism 1 a ventral side from the joint axis 24 a spreads toward the ventral side of the finger mechanism 1 a. It is provided as follows.
- the finger mechanism 1a includes the buffer members 27 and 28 so as to cover the outer surface of the finger mechanism 1a.
- the finger elastic cover member 20a is formed to be extensible and contractible by an elastomer such as rubber, like the finger elastic cover members 20b to 20e of the finger mechanisms 1b to 1e. It is formed according to the outer shape of the mechanism 1a in the extended state (the diameter of the elastic cover member 20a for the finger is substantially equal to the outer diameter of the cushioning member 22.23 of the finger mechanism 1a). Has been).
- each of the finger cover members 20a to 20e has a substantially uniform thickness.
- the hand part 2 has a thin hand cover member 28 (see FIG. 4) so as to cover the entire outer peripheral surface of the hand part 2 except for where the finger mechanisms 1 a to 1 e extend. (See the virtual line 1 and Fig. 3 and Fig. 4).
- the hand cover member 28 is formed of an elastomer in the same manner as the finger cover members 20a to 20e.
- cushioning members 17 to 19, 26, and 27 are attached to the joint members 6 to 8, 21, and 22 of the finger mechanisms 1a to 1e. Therefore, even when the finger mechanism la to le comes into contact with the object when gripping an object (not shown), an excessive impact does not act on the object, and damage to the object is avoided. Can be.
- the buffer members 17 to 19.2 6 and 27 of the finger mechanisms 1 a to 1 e are adjacent to each other and are separated from each other at joints between them. In particular, at a location ventral to the joint axis, the gap between adjacent ones expands toward the ventral side of each finger mechanism 1a to 1e. As a result, the adjacent buffer members do not come into contact with each other when the finger mechanisms 1 a to 1 e bend and extend, so that the bending and extending operations can be performed without any trouble.
- each finger mechanism 1a-: Le is covered by a finger elastic cover member 20a-20e including its buffer member 17-: L9, 26, 27. Therefore, it is possible to prevent the body members of the finger mechanisms 1 a to 1 e ⁇ the buffer members 17 to 19, 26, 27 from becoming dirty and worn.
- the cushioning members 17 to 19, 26, and 27 tend to be relatively thick and expensive in order to ensure their cushioning effect.However, since they can prevent their dirt and wear, The service life of the buffer members 17 to 19, 26, 27 can be increased.
- lubrication such as grease is often applied to each of the finger mechanisms 1 a to; Le joints 9 to 11, 23, and 24. Since the elastic cover member 20a is covered with the elastic cover members 20a to 20e, the lubricant can be prevented from adhering to and scattering on the surface of the multi-finger hand device.
- the finger elastic cover members 20a to 20e and the hand elastic cover member 28 become soiled by work with a multi-fingered hand device, but they are thin and relatively inexpensive. The replacement cost can be reduced because it can be manufactured at a low cost. Also, the elastic cover members 20a to 20e and 28 can be removed from the multi-finger hand device for cleaning.
- the abdominal side surfaces of the finger elastic cover members 20 b to 20 e of the respective finger mechanisms lb to le are basically as shown in FIG.
- each joint bends toward 9-11.
- this curved portion enters the gap on the ventral side of the buffer members (17, 18) and (18, 19) adjacent to each other.
- the thickness of the cushioning members 17 to 19 on the abdominal side is such that the curved portions of the finger-inverting cover members 20 b to 20 e press against the joints 9 to 11.
- the finger elastic cover members 20 a to 20 e of the finger mechanisms 1 a to 1 e are elastic members formed to have shapes conforming to the outer shapes of the finger mechanisms 1 a to le in the extended state. Therefore, when each of the finger mechanisms 1a to 1e is bent, a restoring force is generated that urges each of the finger mechanisms 1a to 1e toward the extension side. Therefore, the urging force of a panel (not shown) that urges each of the finger mechanisms 1 a to 1 e to the extended state can be reduced, and the weight and size of the panel can be improved.
- the multi-finger hand device has the same basic configuration as that of the first embodiment, and only the partial configuration related to the finger elastic cover member and the hand elastic cover member is the same as that of the first embodiment. This is different from that of the first embodiment. Therefore, in the description of the present embodiment, the same reference numerals as those in the first embodiment are used, and the description of the same parts as those in the first embodiment will be omitted.
- FIG. 5 is a drawing showing the structure of each of the finger mechanisms 1 b to 1 e other than the finger mechanism 1 a corresponding to the thumb as in FIG. 3.
- Each of the finger elastic cover members 20 b to 20 e extrapolated to b to 1 e has an end on the hand portion 2 side, and the hand elastic cover member 28 attached to the hand portion 2.
- each finger elastic cover member 20 a to 20 e The hand cover member 28 is integrally formed in the form of a glove.
- the other configuration is exactly the same as that of the first embodiment.
- the same operation and effect as those of the first embodiment can be obtained. Since the cover for the finger to be attached to the body is composed of the members 20a to 20e and the cover member for the hand 28, the number of parts of the cover member is reduced as compared with the first embodiment. And its parts management becomes easier.
- all of the finger elastic cover members 20a to 20e are formed integrally with the hand cover member 28, but these cover members are attached to a multi-finger hand device. In consideration of ease of use, only part (1 to 4) of the finger elastic cover members 20a to 20e should be formed integrally with the hand cover member 28. You may.
- the basic configuration of the multi-finger hand device of the present embodiment is the same as that of the first embodiment, and only the partial configuration related to the finger elastic cover member is the same as that of the first embodiment. It is different. Therefore, in the description of the present embodiment, the same reference numerals as those in the first embodiment are used, and the description of the same parts as those in the first embodiment will be omitted.
- FIG. 6 is a drawing showing the structure of each of the finger mechanisms 1b to 1e other than the finger mechanism 1a corresponding to the thumb, as in FIG. 3, and as shown in FIG.
- the elastic cover member for each finger 20 b to 20 e extrapolated to b to 1 e is recessed toward the joint 9 to 11 at the joint 9 to 11 at the abdominal side.
- the concave portions 29 a, 29 b, and 29 c are formed. As shown in FIG. 7, these concave portions 29a to 29c are provided from the ventral side surface to the side surface of each finger elastic cover member 20b to 20e. Then, the thickness of each finger elastic cover member 20 b to 20 e in each concave portion 29 a to 29 c As shown in FIG.
- the finger elastic cover members 20b to 20e are thinner than other portions.
- the concave portion of the finger elastic cover member 20 a It is formed in 3 and 24 places.
- the other configuration is exactly the same as that of the first embodiment.
- the multi-finger hand device has the following effects in addition to the same effects as those of the first embodiment. That is, in the first embodiment, the finger elastic cover members 20 a to 20 e of the respective finger mechanisms la to le have a substantially uniform thickness on the abdominal surface. Since the finger mechanism 1a-1e is bent when the finger mechanism 1a-1e is bent, depending on the degree of deterioration of the elastic cover member 20a-20e for the finger, as shown in FIG. In some cases, the surface of the abdominal rule at point 1 may be curved so as to protrude outward.
- the abdominal side surfaces of the finger elastic cover members 20 b to 20 e of the finger mechanisms 1 b to 1 e are shown in FIGS. 6 and 7.
- recesses 29 a to 29 c are recessed at the joints 9 to 11, and the thickness of the recesses 29 a to 29 c is larger than that of the other portions. It is said to be thin.
- each finger elastic cover member 20 b to 20 e is more reliably connected to the joints 9 to 11 at the window of each joint. It curves toward 9-11. That is, in the same manner as in the form shown in FIG. 4 described above, the abdominal side surface of each finger elastic cover member 20 b to 20 e bends at each joint 9 to 11, The curvature in the form is more reliable.
- the abdominal side portions of the elastic cover members 20a to 20e for the fingers partially project outward. Can be prevented from interfering with the work.
- finger elastic cover members 20a to 20e are integrated with the hand cover member 28 in the same manner as in the second embodiment. You may make it connect.
- the multi-finger hand device of the present embodiment has the same basic configuration as that of the first embodiment, and differs only in the partial configuration related to the finger elastic cover member from the first embodiment. Is what you do. For this reason, in the description of the present embodiment, the same reference numerals as those in the first embodiment are used, and description of the same parts as those in the first embodiment will be omitted.
- FIG. S is a drawing showing the structure of each of the finger mechanisms 1 b to 1 e other than the finger mechanism 1 a corresponding to the thumb, as in FIG. 3, and as shown in FIG.
- Each of the finger elastic cover members 20 b to 20 e extrapolated to b to 1 e is formed so that the back surface is thicker than the abdomen surface. Although illustration is omitted, the same applies to the finger elastic cover member 20a externally inserted into the finger mechanism 1a corresponding to the thumb, and the back surface of the finger elastic cover member 20a is It is formed thicker than the ventral side.
- Other configurations are exactly the same as those of the first embodiment.
- the same effects as those of the first embodiment can be obtained, and the thickness of the finger elastic cover members 20 a to 20 e of the finger mechanisms 1 a to 1 e can be obtained. Since the back side is thicker than the abdominal side, each finger mechanism 1a to 1e is bent more flexibly than the first embodiment when the finger mechanisms 1a to 1e are bent. The resilience of 20 e to ⁇ becomes longer, As a result, it is possible to further reduce the urging force of a panel (not shown) that urges each of the finger mechanisms 1a to 1e to the extended state, and to further improve the weight and size of the panel. be able to.
- all or some of the finger elastic cover members 20a to 20e are integrally connected to the hand cover member 28 in the same manner as in the second embodiment. You may do so.
- the multi-fingered hand device of the present invention is useful as a robotic multi-fingered hand device that performs various operations by bending and extending a plurality of finger mechanisms.
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/466,952 US20050102037A1 (en) | 2001-01-23 | 2002-01-21 | Multi-finger hand device |
EP02715842A EP1375087B1 (en) | 2001-01-23 | 2002-01-21 | Multi-finger hand device |
JP2002559218A JP3914157B2 (ja) | 2001-01-23 | 2002-01-21 | 多指ハンド装置 |
KR1020037009677A KR100778299B1 (ko) | 2001-01-23 | 2002-01-21 | 다지 핸드 장치 |
DE60232584T DE60232584D1 (de) | 2001-01-23 | 2002-01-21 | Handvorrichtung mit mehreren fingern |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2001-14292 | 2001-01-23 | ||
JP2001014292 | 2001-01-23 |
Publications (1)
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WO2002058896A1 true WO2002058896A1 (fr) | 2002-08-01 |
Family
ID=18881007
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2002/000375 WO2002058896A1 (fr) | 2001-01-23 | 2002-01-21 | Dispositif de main à plusieurs doigts |
Country Status (6)
Country | Link |
---|---|
US (1) | US20050102037A1 (ja) |
EP (1) | EP1375087B1 (ja) |
JP (1) | JP3914157B2 (ja) |
KR (1) | KR100778299B1 (ja) |
DE (1) | DE60232584D1 (ja) |
WO (1) | WO2002058896A1 (ja) |
Cited By (5)
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JP2010137288A (ja) * | 2008-12-09 | 2010-06-24 | Tokai Rubber Ind Ltd | 連結部の被覆材 |
JP2012161876A (ja) * | 2011-02-07 | 2012-08-30 | Canon Inc | 把持装置 |
JP2015003374A (ja) * | 2013-06-24 | 2015-01-08 | 株式会社安川電機 | ロボット、ロボットの製造方法および袋体 |
JP2017516672A (ja) * | 2014-06-03 | 2017-06-22 | ソフトバンク・ロボティクス・ヨーロッパSoftbank Robotics Europe | ヒューマノイド型ロボットにおける噛み込み防止システム |
JP2019104078A (ja) * | 2017-12-12 | 2019-06-27 | Thk株式会社 | ハンド機構 |
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DE102005061265A1 (de) * | 2005-12-20 | 2007-06-21 | Otto Bock Healthcare Ip Gmbh & Co. Kg | Fingerprothese sowie Handprothese |
JP5105147B2 (ja) * | 2006-08-28 | 2012-12-19 | 株式会社安川電機 | ロボットおよび制御方法 |
WO2010142043A1 (en) * | 2009-06-12 | 2010-12-16 | Kinova | Mechanical finger |
FR2956902B1 (fr) * | 2010-03-01 | 2012-04-06 | Peugeot Citroen Automobiles Sa | Dispositif simulant un doigt pour tester la sensibilite de capteurs sensitifs |
KR101145295B1 (ko) * | 2010-04-06 | 2012-05-14 | 주식회사 로보멕 | 로봇 손가락 기구 |
JP5859812B2 (ja) | 2011-10-31 | 2016-02-16 | 本田技研工業株式会社 | 関節機構 |
JP6111589B2 (ja) * | 2012-10-11 | 2017-04-12 | セイコーエプソン株式会社 | ロボットハンド、ロボット装置及びロボットハンドの製造方法 |
US9579218B2 (en) | 2014-02-04 | 2017-02-28 | Rehabilitation Institute Of Chicago | Modular and lightweight myoelectric prosthesis components and related methods |
GB201403265D0 (en) | 2014-02-25 | 2014-04-09 | Touch Emas Ltd | Prosthetic digit for use with touchscreen devices |
WO2016032979A1 (en) | 2014-08-25 | 2016-03-03 | Paul Ekas | Robotic grippers including finger webbing |
US10046461B2 (en) | 2014-08-25 | 2018-08-14 | Paul Ekas | Link structure and assembly including cable guide system for robotic mechanical manipulator structure |
JP6538498B2 (ja) * | 2015-09-15 | 2019-07-03 | ファナック株式会社 | 中空の可動要素と防水構造とを有する手首を備えるロボット |
ITUA20163457A1 (it) * | 2016-05-16 | 2017-11-16 | Univ Pisa | Mano artificiale |
FR3053618B1 (fr) * | 2016-07-05 | 2020-02-21 | Softbank Robotics Europe | Main destinee a equiper un robot a caractere humanoide |
US10973660B2 (en) | 2017-12-15 | 2021-04-13 | Touch Bionics Limited | Powered prosthetic thumb |
US11931270B2 (en) | 2019-11-15 | 2024-03-19 | Touch Bionics Limited | Prosthetic digit actuator |
KR102271362B1 (ko) * | 2019-12-13 | 2021-07-01 | 한국기계연구원 | 인간의 손가락을 모사하는 손가락 기구 및 이를 포함하는 로봇 핸드 |
GB2606130A (en) * | 2021-03-11 | 2022-11-02 | Hugo Elias John | A fingertip for a robot hand |
WO2023177383A1 (en) * | 2022-03-18 | 2023-09-21 | Esper Inc. | A mechanical finger for an artificial wrist and a mechanical finger actuator |
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- 2002-01-21 US US10/466,952 patent/US20050102037A1/en not_active Abandoned
- 2002-01-21 DE DE60232584T patent/DE60232584D1/de not_active Expired - Lifetime
- 2002-01-21 JP JP2002559218A patent/JP3914157B2/ja not_active Expired - Lifetime
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Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010137288A (ja) * | 2008-12-09 | 2010-06-24 | Tokai Rubber Ind Ltd | 連結部の被覆材 |
JP2012161876A (ja) * | 2011-02-07 | 2012-08-30 | Canon Inc | 把持装置 |
JP2015003374A (ja) * | 2013-06-24 | 2015-01-08 | 株式会社安川電機 | ロボット、ロボットの製造方法および袋体 |
JP2017516672A (ja) * | 2014-06-03 | 2017-06-22 | ソフトバンク・ロボティクス・ヨーロッパSoftbank Robotics Europe | ヒューマノイド型ロボットにおける噛み込み防止システム |
US10137579B2 (en) | 2014-06-03 | 2018-11-27 | Softbank Robotics Europe | Anti-jamming system in a humanoid-type robot |
JP2019104078A (ja) * | 2017-12-12 | 2019-06-27 | Thk株式会社 | ハンド機構 |
JP7009193B2 (ja) | 2017-12-12 | 2022-01-25 | Thk株式会社 | ハンド機構 |
Also Published As
Publication number | Publication date |
---|---|
DE60232584D1 (de) | 2009-07-23 |
JPWO2002058896A1 (ja) | 2004-05-27 |
EP1375087A4 (en) | 2006-09-06 |
KR20030075165A (ko) | 2003-09-22 |
EP1375087B1 (en) | 2009-06-10 |
US20050102037A1 (en) | 2005-05-12 |
JP3914157B2 (ja) | 2007-05-16 |
KR100778299B1 (ko) | 2007-11-22 |
EP1375087A1 (en) | 2004-01-02 |
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