【０００１】[0001]
【産業上の利用分野】本発明は、原子力発電所内の保
守、補修ロボット等に適用される５指手腕機構に関する
ものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a five-finger hand arm mechanism applied to a maintenance and repair robot in a nuclear power plant.
【０００２】[0002]
【従来の技術】従来、原子力発電所内の保守、補修ロボ
ットの手腕機構部には、電動モータ等を使用した関節部
が多い。また指手機構部には、電動モータの回転をワイ
ヤー等を介して伝えて操作していた。2. Description of the Related Art Conventionally, there are many joints using an electric motor or the like in a hand arm mechanism portion of a maintenance and repair robot in a nuclear power plant. The finger / hand mechanism is operated by transmitting the rotation of the electric motor through a wire or the like.
【０００３】[0003]
【発明が解決しようとする課題】前記従来のように電動
モータを使用する場合は、出力／重量が小さくて、単純
な動作（旋回等）しかできない。また減速機等を必要と
するため、手腕部の各関節部が大型化、複雑化する上に
重量が増大して、手腕部としては不適当であった。また
指手機構部をワイヤー等により操作しているので、単純
な動作しかできない。またワイヤーの伸び等により応答
性が悪くて、誤差を生じ易い上に、操作が複雑化してい
た。When an electric motor is used as in the prior art, the output / weight is small and only a simple operation (turning, etc.) is possible. Further, since a speed reducer or the like is required, each joint part of the hand arm becomes large and complicated, and the weight increases, which is unsuitable as a hand arm part. Moreover, since the finger / hand mechanism is operated by a wire or the like, only a simple operation can be performed. In addition, the responsiveness is poor due to the elongation of the wire, and errors are likely to occur, and the operation is complicated.
【０００４】本発明は前記の問題点に鑑み提案するもの
であり、その目的とする処は、小型化、簡素化、軽量
化、高出力化、高応答性化、高精度化を達成できて、複
雑な把持、反転、揚重等の作業を円滑に行うことができ
る５指手腕機構を提供しようとする点にある。The present invention has been proposed in view of the above problems, and its object is to achieve miniaturization, simplification, weight reduction, high output, high responsiveness, and high accuracy. The point is to provide a five-finger hand arm mechanism capable of smoothly performing operations such as complicated grasping, reversing, and lifting.
【０００５】[0005]
【課題を解決するための手段】上記の目的を達成するた
めに、本発明は、指手機構部と、手首機構部と、肘機構
部と、肩機構部とよりなり、前記指手機構部を、手部材
に連結した親指第３指部材と同親指第３指部材に連結し
た親指第２指部材と同親指第２指部材に連結した親指第
１指部材と上記親指第３指部材をすりこぎ揺動させる４
個の流体圧シリンダと上記親指第１、２指部材を屈曲さ
せる１個の流体圧シリンダとを有する親指機構部と、手
部材に連結した第３指部材と同第３指部材に連結した第
２指部材と同第２指部材に連結した第１指部材と上記第
３指部材を広角度屈曲及び微小角度屈曲させる２個の球
面座付流体圧シリンダ及びそれに対峙した１個の２連ピ
ストン付流体圧シリンダと上記第２指部材を広角度屈曲
させる２連ピストン付流体圧シリンダ及びそれに対峙し
た１個の流体圧シリンダとを有する３個の指機構部と、
手部材に連結した小指用手部材と同小指用手部材に連結
した第３指部材と同第３指部材に連結した第２指部材と
同第２指部材に連結した第１指部材と上記小指用手部材
を微小角度屈曲させる１個の短ストローク流体圧シリン
ダと上記第３指部材を広角度屈曲及び微小角度屈曲させ
る２個の球面座付流体圧シリンダ及びそれに対峙した１
個の２連ピストン付流体圧シリンダと上記第２指部材を
広角度屈曲させる２連ピストン付流体圧シリンダ及びそ
れに対峙した１個の流体圧シリンダとを有する小指機構
部とにより構成し、前記手首機構部を、手部材側のコ字
状ヒンジに連結した円筒状自在部材と同円筒状自在部材
に嵌挿した手首関節部材と同手首関節部材に遊嵌した両
リンク状自在部材及び片リンク状自在部材と同角リンク
状自在部材に連結した前腕部材と同前腕部材を両方向対
称に微小角度旋回、広角度屈曲・旋回させる２個の球面
座付流体圧シリンダ及びそれに対峙した３個の流体圧シ
リンダとにより構成し、前記肘機構部を、前記手首機構
部に広角度回転可能に連結した繭状ピストン付流体圧シ
リンダと対峙した２個の流体圧シリンダと同各流体圧シ
リンダを１方向の広角度屈曲を可能に連結した半円盤状
自在部材とにより構成し、前記肩機構部を、肩口部材の
肩口関節部材と同肩口関節部材に連結した上腕部材の上
腕肩関節部材と同上腕肩関節部材に旋回可能に取付けた
円盤状自在部材と同円盤状自在部材を片方向は広角度屈
曲、逆方向は微小角度屈曲させる２個ずつが対峙した４
個の流体圧シリンダと同関節部を水平方向に旋回させる
２個の流体圧シリンダと同関節部を広角度回転させる２
個の並設した半円環状流体圧シリンダ及び繭状ピストン
とにより構成している。In order to achieve the above object, the present invention comprises a finger / hand mechanism section, a wrist mechanism section, an elbow mechanism section, and a shoulder mechanism section. A thumb third finger member connected to the hand member, a thumb second finger member connected to the same thumb third finger member, a thumb first finger member connected to the same thumb second finger member, and the thumb third finger member Move the pestle 4
A thumb mechanism section having a plurality of fluid pressure cylinders and a fluid pressure cylinder for bending the thumb first and second finger members, a third finger member connected to the hand member, and a third finger member connected to the third finger member. A fluid pressure cylinder with two spherical seats that bends the first finger member and the third finger member that are connected to the second finger member and the second finger member at a wide angle and a minute angle, and one dual piston that faces the fluid pressure cylinder. Three finger mechanism parts each having a fluid pressure cylinder with a piston, a fluid pressure cylinder with a double piston for bending the second finger member at a wide angle, and a fluid pressure cylinder facing the fluid pressure cylinder.
The above-mentioned little finger hand member connected to the hand member, the third finger member connected to the little finger hand member, the second finger member connected to the third finger member, and the first finger member connected to the second finger member; One short stroke fluid pressure cylinder for flexing the little finger hand member by a slight angle, two spherical pressure cylinders with spherical seats for flexing the third finger member at a wide angle and a minute angle, and 1 facing it.
And a little finger mechanism section having two fluid pressure cylinders with two pistons, two fluid pressure cylinders with two pistons for bending the second finger member at a wide angle, and one fluid pressure cylinder facing the two fluid pressure cylinders. The mechanism part is a cylindrical free member connected to a U-shaped hinge on the hand member side, a wrist joint member fitted and inserted in the cylindrical free member, and a double link-shaped free member and a one-link form loosely fitted in the wrist joint member. Same forearm member connected to the free member and the same forearm member Two fluid pressure cylinders with spherical seats and three fluid pressures facing the forearm member and the same forearm member for bidirectional symmetry A hydraulic cylinder with a cocoon-shaped piston that connects the elbow mechanism portion to the wrist mechanism portion so as to be able to rotate at a wide angle, and two fluid pressure cylinders facing each other and one fluid pressure cylinder in each direction. The upper arm shoulder joint member and the upper arm shoulder joint member, which are composed of a semi-disc-shaped free member that is connected so as to be capable of bending at an angle, and the shoulder mechanism portion is connected to the shoulder mouth joint member and the same shoulder mouth joint member of the shoulder mouth member. The disc-shaped flexible member and the same disc-shaped flexible member that are pivotally attached to each other are bent at a wide angle in one direction and bent at a minute angle in the opposite direction.
Two fluid pressure cylinders and the same joint are rotated horizontally. Two fluid pressure cylinders and the same joint are rotated by a wide angle.
It is composed of a number of semi-annular fluid pressure cylinders and cocoon-shaped pistons arranged side by side.
【０００６】[0006]
【作用】本発明の５指手腕機構は前記のように構成され
ており、指手機構部と手首機構部とを制御することによ
り、３次元方向に動作させて、複雑な形状の物体の把
持、及び複雑な作業を行う。また肘機構部と肩機構部と
の広角度屈曲、微小角度屈曲、旋回、広角度回転させる
ことにより、３次元方向に動作させて、揚重、反転、移
設等の作業を行う。The five-finger hand arm mechanism of the present invention is configured as described above. By controlling the finger-hand mechanism section and the wrist mechanism section, the five-finger hand arm mechanism is operated in three-dimensional directions to grasp an object having a complicated shape. , And perform complex tasks. Further, by performing wide-angle bending, minute-angle bending, turning, and wide-angle rotation of the elbow mechanism portion and the shoulder mechanism portion, the elbow mechanism portion and the shoulder mechanism portion are operated in three-dimensional directions to perform operations such as lifting, reversing, and relocating.
【０００７】[0007]
【実施例】次に本発明の５指手腕機構を図１〜図１３に
示す一実施例により説明する。なお図１〜図５は、左側
の指手機構部と手首機構部と肘機構部と肩機構部とを示
しているが、ロボットに適用するときには、左右双腕と
する。図１、図２の１が指手機構部、２が手首機構部、
３が肘機構部、４が肩機構部である。EXAMPLE A five-fingered arm mechanism of the present invention will now be described with reference to an example shown in FIGS. Although FIG. 1 to FIG. 5 show the left hand / hand mechanism, wrist mechanism, elbow mechanism, and shoulder mechanism, they are left and right double arms when applied to a robot. 1 and 2, 1 is a finger / hand mechanism part, 2 is a wrist mechanism part,
3 is an elbow mechanism, and 4 is a shoulder mechanism.
【０００８】先ず指手機構部１を説明すると、図５、図
６の親指第１指部材１−２０（外側部材は図示せず、以
下同様）は、親指第２指部材１−２２に旋回可能に取付
けられ、親指第１指部材１−２０側に設けられた関節部
ヒンジ１−２１と親指第３指部材１−２３側に設けられ
た関節部ヒンジ１−２４とが１個の流体圧シリンダ１−
２５により連結されて、親指第１指部材１−２０及び親
指第２指部材１−２２が旋回可能になっている。First, the finger / hand mechanism section 1 will be described. The thumb first finger member 1-20 (the outer member is not shown, the same applies hereinafter) of FIGS. 5 and 6 pivots to the thumb second finger member 1-22. The joint hinge 1-21 provided on the thumb first finger member 1-20 side and the joint hinge 1-24 provided on the thumb third finger member 1-23 side are one fluid. Pressure cylinder 1-
The thumb first finger member 1-20 and the thumb second finger member 1-22 are connected by 25 so as to be rotatable.
【０００９】この親指第２指部材１−２２は、関節部ヒ
ンジ１−２４により親指第３部材１−２３に微小角度旋
回可能に取付けられている。親指第３指部材１−２３の
他端部は、支持部材１−２９により手部材１−１３側に
固定された球面軸受１−２８で手部材１−１３にすりこ
ぎ揺動可能に支持され、親指第２指部材１−２２側に設
けられた関節部ヒンジ１−２４と球面軸受１−２８側に
設けられた手部材側ヒンジ１−２７とが四角錘状稜線に
沿い配設された４個の球面座付流体圧シリンダ１−２６
ａ〜１−２６ｄにより連結されて、すりこぎ揺動可能に
なっている。The thumb second finger member 1-22 is attached to the thumb third member 1-23 by a joint hinge 1-24 so as to be pivotable by a small angle. The other end of the third thumb third finger member 1-23 is movably supported by the hand member 1-13 by a spherical bearing 1-28 fixed to the hand member 1-13 side by a support member 1-29. , A joint hinge 1-24 provided on the thumb second finger member 1-22 side and a hand member hinge 1-27 provided on the spherical bearing 1-28 side are arranged along the quadrangular pyramid ridge line. Fluid pressure cylinder with four spherical seats 1-26
They are connected by a to 1-26d and can be oscillated by a pestle.
【００１０】他の４指の第１指部材１−１（外側部材は
図示している、以下同様）は、第２指部材１−３に旋回
可能に取付けられ、第１指部材１−１の先端部に設けた
られたＴ字状ヒンジ１−２と第２指部材１−３に設けら
れた関節部ヒンジ１−４とが１個の流体圧シリンダ１−
８により連結されて、旋回可能になっている。第２指部
材１−３は、第３指部材１−５に広角度の旋回を可能に
取付けられ、上記Ｔ字状ヒンジ１−２と第３指部材１−
５の関節部に設けられたリング状自在部材１−６とが１
個の流体圧シリンダ１−９により連結されて、旋回可能
になっている。The other first finger member 1-1 of four fingers (the outer member is shown, the same applies hereinafter) is rotatably attached to the second finger member 1-3, and the first finger member 1-1. The T-shaped hinge 1-2 provided at the tip of the and the joint hinge 1-4 provided on the second finger member 1-3 are one fluid pressure cylinder 1-.
It is connected by 8 and can be turned. The second finger member 1-3 is attached to the third finger member 1-5 so as to be capable of turning at a wide angle, and the T-shaped hinge 1-2 and the third finger member 1-
1 and the ring-shaped free member 1-6 provided at the joint part of 5
The fluid pressure cylinders 1-9 are connected to each other so that they can be turned.
【００１１】第３指部材１−５の他端部は、手部材１−
１３側に取付けられたすり割状開口球面軸受１−１２内
に設けられた球状体自在部材１−７に広角度の旋回を可
能に取付けられ、上記リング状自在部材１−６と球状体
部材１−７とが１個の２連ピストン１−１０ｄ、１−１
０ｃを有する流体圧シリンダ１−１０ａにより連結され
て、旋回可能になっている。The other end of the third finger member 1-5 has a hand member 1-
The spherical body member 1-7 provided in the slotted opening spherical bearing 1-12 mounted on the 13 side is mounted so as to be capable of turning at a wide angle, and the ring-shaped body member 1-6 and the spherical body member are attached. 1-7 is a double piston 1-10d, 1-1
It is connected by a fluid pressure cylinder 1-10a having 0c and can be turned.
【００１２】球状体部材１−７は、すり割状開口球面軸
受１−１２内に微小角度の揺動及び広角度の旋回を可能
に設けられて、上記流体圧シリンダ１−１０ａに対峙状
態に配設され、球状体自在部材１−７と手部材１−１３
に設けられた手部材側ヒンジ１−１４とが２個の球面座
付流体圧シリンダ１−１１ａ、１−１１ｂにより連結さ
れて、揺動、旋回可能になっている。The spherical member 1-7 is provided inside the slotted spherical bearing 1-12 so as to be capable of swinging at a small angle and swiveling at a wide angle so as to face the fluid pressure cylinder 1-10a. Arranged, spherical member 1-7 and hand member 1-13
The hinge 1-14 on the hand member side provided on the above is connected by the two fluid pressure cylinders 1-11a and 1-11b with spherical seats so that it can swing and swivel.
【００１３】また小指用手部材１−１８は、手部材１−
１３のヒンジ１−１９に微小旋回可能に取付けられ、小
指用手部材１−１８側に設けられた手部材側ヒンジ１−
１５と手部材１−１３に設けられたヒンジ１−１６とが
１個の短ストローク流体圧シリンダ１−１７により連結
されている。その他の小指機構部は、上記と同様に構成
されている。The hand member 1-18 for the little finger is the hand member 1-
A hand member side hinge 1 attached to a hinge 1-19 of No. 13 so as to be capable of minute turning and provided on the side of the little finger hand member 1-18
15 and the hinge 1-16 provided on the hand member 1-13 are connected by one short stroke fluid pressure cylinder 1-17. The other little finger mechanism section is configured similarly to the above.
【００１４】次に手首機構部２を説明すると、手部材１
−１３の前腕部材７側には、コ字状ヒンジ２−１が設け
られ、同コ字状ヒンジ２−１には、円筒状自在部材２−
２が旋回可能に取付けられ、同円筒状自在部材２−２に
は、手首関節部材２−３が回転可能に嵌挿されて、円筒
状自在部材２ー２の旋回中心軸線と手首関節部材２−３
の回転中心軸線とが直交している。Next, the wrist mechanism section 2 will be described. The hand member 1
-13 is provided with a U-shaped hinge 2-1 on the side of the forearm member 7, and the U-shaped hinge 2-1 has a cylindrical free member 2-.
2 is rotatably attached, and a wrist joint member 2-3 is rotatably fitted and inserted into the cylindrical free member 2-2, so that the turning center axis of the cylindrical free member 2-2 and the wrist joint member 2 are attached. -3
Is orthogonal to the rotation center axis line.
【００１５】また手首関節部材２−３の両側部には、各
２個の両リンク状自在部材２−４ｂと片リンク状自在部
材２−４ａとが広角度の回転を可能に係合され、手首関
節部材２−３が補強部材７−３の先端部に形成した関節
部分を介して前腕部材７−１に連結されている。そして
これらの自在部材２−４ａ、２−４ｂと手部材１−１３
側のヒンジ１−３０ａ、１−３０ｂとが２個の球面座付
流体圧シリンダ２−６ａ、２−６ｂにより連結されて、
指手機構部１と手首機構部２との微小角度の揺動と広角
度の旋回とが可能になっている。またこれらの自在部材
２−４ａ、２−４ｂと前腕補強部材７−３側のヒンジ７
−４ａ、７−４ｂ、７−５とが３個の流体圧シリンダ２
−５ａ、２−５ｂ、２ー７により連結されて、両方向対
称に微小角度の旋回と広角度の屈曲とが可能になってい
る。Further, on both sides of the wrist joint member 2-3, two double link-like members 2-4b and a single link-like free member 2-4a are engaged so that they can rotate at wide angles. The wrist joint member 2-3 is connected to the forearm member 7-1 via a joint portion formed at the tip of the reinforcing member 7-3. And these free members 2-4a and 2-4b and the hand member 1-13
Side hinges 1-30a, 1-30b are connected by two spherical seated fluid pressure cylinders 2-6a, 2-6b,
The finger / hand mechanism section 1 and the wrist mechanism section 2 can swing at a small angle and can swivel at a wide angle. In addition, these free members 2-4a and 2-4b and the hinge 7 on the forearm reinforcing member 7-3 side
-4a, 7-4b, 7-5 are three fluid pressure cylinders 2
They are connected by -5a, 2-5b, and 2-7 so that they can be turned in a small angle and bent in a wide angle symmetrically in both directions.
【００１６】次に肘機構部３を説明すると、前腕部材７
−１の肘機構部３側は、前腕肘部材７−２に設けられた
軸部材７−６にベアリングを介して同心回転可能に取付
けられ、同前腕肘部材７−２の外周端面には、半円環状
流体圧シリンダ３−１が取付けられ、同半円環状流体圧
シリンダ３−１の繭状ピストン３−２が前腕肘部材７−
２に配設された扇状補強部材７−７に固定されて、広角
度の回転が可能になっている。なお前腕肘部材７−２の
回転は、モータ等により行ってもよい。Next, the elbow mechanism section 3 will be described. Forearm member 7
The elbow mechanism portion 3 side of -1 is concentrically rotatably attached to a shaft member 7-6 provided on the forearm elbow member 7-2 via a bearing, and an outer peripheral end surface of the forearm elbow member 7-2 is The semi-annular fluid pressure cylinder 3-1 is attached, and the cocoon-shaped piston 3-2 of the semi-annular fluid pressure cylinder 3-1 is attached to the forearm elbow member 7-.
It is fixed to the fan-shaped reinforcing member 7-7 arranged in No. 2 and can rotate in a wide angle. The forearm elbow member 7-2 may be rotated by a motor or the like.
【００１７】前腕肘部材７−２の上腕部材６−１側に
は、前腕肘関節部材７−８が設けられ、同前腕肘関節部
材７−８が上腕関節部材６−３にベアリングを介して旋
回可能に取付けられている。また半円盤状自在部材３−
３と前腕肘部材７−２側のヒンジ７−４と上腕部材６−
１の補強部材６−２側のヒンジ６−４（図示せず）とが
対峙状態に配設した２個の流体圧シリンダ３−４ａ、３
−４ｂにより連結されて、１方向の広角度屈曲が可能に
なっている。A forearm elbow joint member 7-8 is provided on the upper arm member 6-1 side of the forearm elbow member 7-2, and the forearm elbow joint member 7-8 is connected to the upper arm joint member 6-3 via a bearing. It is mounted so that it can rotate. In addition, a semi-disc-shaped free member 3-
3 and hinge 7-4 on the forearm elbow member 7-2 side and upper arm member 6-
The two fluid pressure cylinders 3-4a, 3a and 4c, which are arranged so as to face the hinge 6-4 (not shown) on the side of the first reinforcing member 6-2.
It is connected by -4b to allow wide-angle bending in one direction.
【００１８】次に肩機構部４を説明すると、上腕部材６
−１の肩口部材５−１側には、上腕肩関節部材６−６が
設けられ、同上腕肩関節部材６−６が肩口関節部材５−
３内にベアリングを介して旋回可能に取付けられ、同上
腕肩関節部材６−６の外周部には、円盤状自在部材４−
１がベアリングを介して旋回可能に取付けられている。
また同円盤状自在部材４−１の周方向３箇所には、上腕
補強部材６−２側のヒンジ６−５が設けられ、肩口部材
５ー１側には、肩口部材側ヒンジ５−２が設けられ、こ
れらのヒンジ６−５、ヒンジ５−２が２個ずつを対峙状
態に配設した４個の流体圧シリンダ４−２ａ、４−２
ｂ、４−３ａ、４−３ｂにより連結されて、片方向には
広角度の旋回、逆方向には微小角度の旋回が可能になっ
ている。Next, the shoulder mechanism section 4 will be described. The upper arm member 6
−1, the upper arm shoulder joint member 6-6 is provided on the shoulder mouth member 5-1 side, and the upper arm shoulder joint member 6-6 is the shoulder mouth joint member 5-.
3 is rotatably attached via a bearing, and the disc-shaped free member 4- is provided on the outer peripheral portion of the upper arm shoulder joint member 6-6.
1 is pivotally mounted via bearings.
Further, hinges 6-5 on the upper arm reinforcing member 6-2 side are provided at three circumferential positions of the disk-shaped free member 4-1 and a shoulder mouth member side hinge 5-2 is provided on the shoulder mouth member 5-1 side. Four fluid pressure cylinders 4-2a and 4-2 are provided, and two of these hinges 6-5 and 5-2 are arranged in a confronting state.
B, 4-3a, and 4-3b are connected so that a wide-angle turn can be made in one direction and a minute angle turn can be made in the opposite direction.
【００１９】肩口部材５−１の上下部には、軸部材５−
４ａ、５−４ｂが円筒状肩関節部材４−４の端部に設け
られた軸受部材４−５ａ、４−５ｂにベアリングを介し
て水平方向への旋回を可能に取付けられいる。また肩口
関節部材５−３の前後両側部に設けられたヒンジ５−５
ａ、５−５ｂと肩関節部材４−４に設けられたヒンジ４
−７ａ、４−７ｂとが２個の流体圧シリンダ４−６ａ、
４−６ｂにより連結されて、旋回可能になっている。A shaft member 5-is provided on the upper and lower portions of the shoulder opening member 5-1.
4a and 5-4b are attached to bearing members 4-5a and 4-5b provided at the ends of the cylindrical shoulder joint member 4-4 via bearings so that they can be swung in the horizontal direction. Further, hinges 5-5 provided on both front and rear sides of the shoulder-mouth joint member 5-3
a, 5-5b and the hinge 4 provided on the shoulder joint member 4-4
-7a and 4-7b are two fluid pressure cylinders 4-6a,
It is connected by 4-6b and can turn.
【００２０】肩関節部材４−４は、肩部材４−１２にベ
アリングを介して回転可能に取付けられ、同肩関節部材
４−４の下部側には、２個の半円環状流体圧シリンダ４
−１０と２個の半円環状流体圧シリンダ４−８とが並設
状態に取付けられ、同各流体圧シリンダ４−１０の繭状
ピストン４−１１と同各流体圧シリンダ４−８の繭状ピ
ストン４−９とが結合されて、広角度の回転が可能にな
っている。なお肩部材４−１２は、胴本体（図示せず）
に取付けられている。The shoulder joint member 4-4 is rotatably attached to the shoulder member 4-12 via a bearing, and two semi-annular fluid pressure cylinders 4 are provided on the lower side of the shoulder joint member 4-4.
-10 and two semi-annular fluid pressure cylinders 4-8 are mounted side by side, and the cocoon-shaped piston 4-11 of each fluid pressure cylinder 4-10 and the cocoon of each fluid pressure cylinder 4-8 are attached. A wide-angle rotation is possible by being coupled with the piston 4-9. The shoulder member 4-12 is a body (not shown).
Installed on.
【００２１】本発明の５指手腕機構は前記のように構成
されており、指手機構部１と手首機構部２とを制御し、
これらの３次元方向への組み合わせ動作により、複雑な
形状の物体の把持、及び複雑な作業を行う。また肘機構
部３と肩機構部４との広角度屈曲、微小角度屈曲、旋
回、広角度回転させ、これらの組み合わせ動作により、
揚重、反転、移設等の作業を行う。The five-finger hand arm mechanism of the present invention is configured as described above, and controls the finger / hand mechanism section 1 and the wrist mechanism section 2,
By these combined operations in the three-dimensional directions, an object having a complicated shape is gripped and a complicated work is performed. Further, the elbow mechanism portion 3 and the shoulder mechanism portion 4 are bent at a wide angle, bent at a small angle, turned, and rotated at a wide angle, and by a combination operation of these,
Perform operations such as lifting, reversing, and relocation.
【００２２】[0022]
【発明の効果】本発明の５指手腕機構は前記のように指
手機構部と手首機構部とを制御することにより、３次元
方向に動作させて、複雑な形状の物体の把持、及び複雑
な作業を行う。また肘機構部と肩機構部との広角度屈
曲、微小角度屈曲、旋回、広角度回転させることによ
り、３次元方向に動作させて、揚重、反転、移設等の作
業を行うので、出力／重量を大きくでき上に、減速機や
ワイヤーを不要にでき、５指手腕機構の小型化、簡素
化、軽量化、高出力化、高応答性化、高精度化を達成で
きて、複雑な把持、反転、揚重等の作業を円滑に行うこ
とができる。As described above, the five-finger hand arm mechanism of the present invention is operated in three-dimensional directions by controlling the finger-hand mechanism section and the wrist mechanism section as described above, thereby grasping an object having a complicated shape and making it complicated. Do different tasks. Also, by performing wide-angle bending, minute-angle bending, turning, and wide-angle rotation of the elbow mechanism part and the shoulder mechanism part, they are operated in three-dimensional directions to perform operations such as lifting, reversing, and relocating. In addition to being able to increase the weight, it is possible to eliminate the need for a speed reducer and wires, and to achieve the miniaturization, simplification, weight reduction, high output, high responsiveness, and high precision of the five-finger hand arm mechanism, making it possible to achieve complex gripping. It is possible to smoothly perform work such as reversing, lifting and lifting.
【図１】本発明の５指手腕機構の一実施例を示す正面図
である。FIG. 1 is a front view showing an embodiment of a five-finger hand arm mechanism of the present invention.
【図２】同５指手腕機構の左側面図である。FIG. 2 is a left side view of the five-finger hand arm mechanism.
【図３】同５指手腕機構の指機構部の縦断側面図であ
る。FIG. 3 is a vertical sectional side view of a finger mechanism portion of the same five-finger hand arm mechanism.
【図４】同５指手腕機構の指手機構部の横断平面図であ
る。FIG. 4 is a cross-sectional plan view of a finger / hand mechanism portion of the five-finger hand / arm mechanism.
【図５】同５指手腕機構の指手機構部の縦断側面図であ
る。FIG. 5 is a vertical cross-sectional side view of a finger / hand mechanism portion of the same five-finger / hand arm mechanism.
【図６】同５指手腕機構の横断平面図である。FIG. 6 is a cross-sectional plan view of the five-finger hand arm mechanism.
【図７】同５指手腕機構の肘機構部の縦断側面図であ
る。FIG. 7 is a vertical sectional side view of an elbow mechanism portion of the same five-finger hand arm mechanism.
【図８】同５指手腕機構の肘機構部の肘関節部の縦断正
面図である。FIG. 8 is a vertical sectional front view of an elbow joint portion of an elbow mechanism portion of the same five-finger hand arm mechanism.
【図９】同５指手腕機構の肘機構部の前腕の縦断正面図
である。FIG. 9 is a longitudinal sectional front view of a forearm of an elbow mechanism portion of the same five-finger hand arm mechanism.
【図１０】同５指手腕機構の肩機構部の縦断側面図であ
る。FIG. 10 is a vertical sectional side view of a shoulder mechanism portion of the same five-finger hand arm mechanism.
【図１１】同５指手腕機構の肩機構部の縦断底面図であ
る。FIG. 11 is a vertical cross-sectional bottom view of the shoulder mechanism portion of the five-finger hand arm mechanism.
【図１２】同５指手腕機構の肩機構部の肩口の縦断正面
図である。FIG. 12 is a vertical sectional front view of a shoulder opening of a shoulder mechanism portion of the same five-finger hand arm mechanism.
【図１３】同５指手腕機構の肩機構部の肩口の縦断正面
図である。FIG. 13 is a vertical sectional front view of a shoulder opening of a shoulder mechanism portion of the same five-finger hand arm mechanism.
１ 指手機構部 １−１ 第１指部材 １−２ Ｔ字状ヒンジ １−３ 第２指部材 １−４ 関節部ヒンジ １−５ 第３指部材 １−６ リンク状自在部材 １−７ 球状体自在部材 １−８ 流体圧シリンダ １−９ 〃 １−１０ 〃 １−１０ａ 〃 １−１０ｄ ２連ピストン １−１０ｃ 〃 １−１１ａ 球面座付流体圧シリンダ １−１１ｂ 〃 １−１２ すり割状開口球面軸受 １−１３ 手部材 １−１４ 手部材側ヒンジ １−１５ 〃 １−１６ 〃 １−１７ 短ストローク流体圧シリンダ １−１８ 小指用手部材 １−１９ 手部材用ヒンジ １−２０ 親指第１指部材 １−２１ 関節部ヒンジ １−２２ 親指第２指部材 １−２３ 親指第３指部材 １−２４ 関節部ヒンジ １−２５ 流体圧シリンダ １−２６ａ 球面座付流体圧シリンダ １−２６ｂ 〃 １−２６ｃ 〃 １−２６ｄ 〃 １−２７ 手部材側ヒンジ １−２８ 球面軸受 １−２９ 支持部材 ２ 手首機構部 ２−１ コ字状ヒンジ ２−２ 円筒状自在部材 ２−３ 手首関節部材 ２−４ａ 片リンク状自在部材 ２−４ｂ 両リンク状自在部材 ２−５ａ 流体圧シリンダ ２−５ｂ 〃 ２−６ａ 球面座付流体圧シリンダ ２−６ｂ 〃 １−３０ａ 手部材側ヒンジ １−３０ｂ 〃 ７−１ 前腕部材 ７−３ 前腕補強部材 ７−４ａ 前腕補強部材側ヒンジ ７−４ｂ 〃 ７−５ 〃 ３ 肘機構部 ３−１ 半円環状流体圧シリンダ ３−２ 繭状ピストン ３−３ 半円盤状自在部材 ３−４ａ 流体圧シリンダ ３−４ｂ 〃 ６−１ 上腕部材 ６−２ 上腕部材の補強部材 ６−３ 上腕関節部材 ７−１ 前腕部材 ７−２ 前腕肘部材 ７−６ 軸部材 ７−７ 扇状補強部材 ７−８ 前腕肘関節部材 ４ 肩機構部 ４−１ 円盤状自在部材 ４−２ａ 流体圧シリンダ ４−２ｂ 〃 ４−３ａ 〃 ４−３ｂ 〃 ４−４ 円筒状肩関節部材 ４−５ａ 軸受部材 ４−５ｂ 〃 ４−６ａ 流体圧シリンダ ４−６ｂ 〃 ４−７ａ 肩関節部材のヒンジ ４−７ｂ 〃 ４−８ 肩部材側の半円環状流体圧シリンダ ４−９ 繭状ピストン ４−１０ 肩部材側の半円環状流体圧シリンダ ４−１１ 繭状ピストン ４−１２ 肩部材 ５−１ 肩口部材 ５−２ 肩口部材側ヒンジ ５−３ 肩口関節部材 ５−４ａ 軸部材 ５−４ｂ 〃 ５−５ａ 肩口関節部材のヒンジ ５−５ｂ 〃 ６−５ 上腕補強部材側ヒンジ ６−６ 上腕肩関節部材 DESCRIPTION OF SYMBOLS 1 Finger hand mechanism part 1-1 1st finger member 1-2 T-shaped hinge 1-3 2nd finger member 1-4 Joint hinge 1-5 3rd finger member 1-6 Linkable member 1-7 Spherical Flexible member 1-8 Fluid pressure cylinder 1-9 〃 1-10 〃 1-10a 〃 1-10d Double piston 1-10c 〃 1-11a Fluid pressure cylinder with spherical seat 1-11b 〃 1-12 Slotted shape Open spherical bearing 1-13 Hand member 1-14 Hand member side hinge 1-15 〃 1-16 〃 1-17 Short stroke fluid pressure cylinder 1-18 Little finger hand member 1-19 Hand member hinge 1-20 Thumb No. 1 finger member 1-21 joint hinge 1-22 thumb second finger member 1-23 thumb third finger member 1-24 joint hinge 1-25 fluid pressure cylinder 1-26a spherical seated fluid pressure cylinder 1-26b 〃 1-26c 〃 1-26d 〃 1-27 Hand member side hinge 1-28 Spherical bearing 1-29 Support member 2 Wrist mechanism part 2-1 U-shaped hinge 2-2 Cylindrical free member 2-3 Wrist joint member 2-4a Single link free member 2 -4b Both link-shaped free members 2-5a Fluid pressure cylinder 2-5b 〃 2-6a Spherical seated fluid pressure cylinder 2-6b 〃 1-30a Hand member side hinge 1-30b 〃 7-1 Forearm member 7-3 Forearm Reinforcement member 7-4a Forearm reinforcement member side hinge 7-4b 〃 7-5 〃 3 Elbow mechanism part 3-1 Semi-annular fluid pressure cylinder 3-2 Cocoon-shaped piston 3-3 Semi-disc-shaped free member 3-4a Fluid pressure Cylinder 3-4b 〃 6-1 Upper arm member 6-2 Reinforcing member for upper arm member 6-3 Upper arm joint member 7-1 Forearm member 7-2 Forearm elbow member 7-6 Shaft member 7-7 Fan-shaped reinforcing member 7-8 Forearm Elbow joint member 4 Shoulder mechanism part 4 1 disk-shaped free member 4-2a fluid pressure cylinder 4-2b 〃 4-3a 〃 4-3b 〃 4-4 cylindrical shoulder joint member 4-5a bearing member 4-5b 〃 4-6a fluid pressure cylinder 4-6b 〃 4-7a Hinge of shoulder joint member 4-7b 〃 4-8 Shoulder member side semi-annular fluid pressure cylinder 4-9 Cocoon piston 4-10 Shoulder member side semi-annular fluid pressure cylinder 4-11 Cocoon piston 4-12 Shoulder member 5-1 Shoulder member 5-2 Shoulder member side hinge 5-3 Shoulder joint member 5-4a Shaft member 5-4b 〃 5-5a Shoulder joint member hinge 5-5b 〃 6-5 Upper arm reinforcing member Side hinge 6-6 Upper arm shoulder joint member
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6075991AJPH07285089A (en) | 1994-04-14 | 1994-04-14 | Pentadactylic hand arm mechanism |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP6075991AJPH07285089A (en) | 1994-04-14 | 1994-04-14 | Pentadactylic hand arm mechanism |
| Publication Number | Publication Date |
|---|---|
| JPH07285089Atrue JPH07285089A (en) | 1995-10-31 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP6075991AWithdrawnJPH07285089A (en) | 1994-04-14 | 1994-04-14 | Pentadactylic hand arm mechanism |
| Country | Link |
|---|---|
| JP (1) | JPH07285089A (en) |
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| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination | Free format text:JAPANESE INTERMEDIATE CODE: A300 Effective date:20010703 |