JP2009083020A - Multi-finger movable robot hand and finger joint drive control method in multi-finger movable robot hand - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To increase holding torque when bending and driving finger joints by using a shape memory material and to adjust a positional relation between a thumb and four other fingers by movably mounting the thumb in an artificial hand of multi-fingers and multi-joints. <P>SOLUTION: A multi-finger movable robot hand X has movable fingers 21; 22; 23; 24 rotating and connecting each finger joint to be refractable to a palm side and to be extensible and recoverable, and a finger joint driving mechanism performing a motion control of a holding or opening operation including a stationary behavior by inserting bending/stretching guiding wire members 17; 18 (19; 20) into adjacent movable fingers 21; 22 (23; 24) and performing a towing operation by locking the inter-finger communicating portion on a mobile body 10 capable of being driven to advance and retreat in a wrist direction. In this case, the shape memory materials (shape memory metals) of fixed lengths are used as the bending/stretching guiding members 17; 18(19; 20), and the energizing control means 30 is provided. When performing a holding operation, the shape memory metals are driven to contract or restore the shape in the longitudinal direction. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention is configured as a multi-finger multi-joint artificial hand, and has movable fingers in which each finger joint is refracted to the palm side and is pivotally connected so as to be able to return to extension. A multi-finger movable robot hand that performs movement control related to gripping or releasing operation including stationary behavior by inserting and engaging a moving body that can be driven forward and backward in the wrist direction with its finger contact part More specifically, the present invention relates to a multi-finger movable robot hand and a finger-joint drive control method for the multi-finger movable robot hand in which gripping torque is increased when the finger joint is bent and driven.

Conventionally, a multi-finger movable robot hand that can move a plurality of fingers with a single drive source and holds a soft behavior similar to that of a human hand with respect to an object having a different diameter is known. (For example, see Patent Document 1).
Japanese Patent No. 3937785

  This robot hand has the same gripping behavior and appearance (designability) as a human hand, and has a control mechanism that realizes a human-like soft behavior in gripping operation, and also has a covering that seeks human-like texture. ing.

  However, if a human-like design property is ensured, the size of the motor is limited. For this reason, a problem (failure) that the gripping force is insufficient may occur due to, for example, the covering being a driving resistance. In this case, it is difficult to adopt the solution method of simply increasing the size of the driving source to be used and increasing the driving force. This is because it is necessary to limit the shape and space so that the appearance of the hand does not become unnatural. Therefore, there is room for improving the drive system so as to exhibit a gripping force that surpasses this kind of negative influence on the gripping operation without impairing the design or decoration.

  Further, since the gripping mechanism (including the finger joint drive mechanism) drives and grips four fingers other than the thumb, the position of the thumb that holds the object is very important. If the thumb is fixed at the position where the four fingers face each other with priority on gripping, there is a problem that an unnatural impression is given at times other than gripping.

Under these circumstances, a polymer actuator or a shape memory wire is connected to a wire that is inserted into a movable finger of a multi-finger multi-joint robot hand through a pulley and is driven to bend and used as a drive source. Is known (see, for example, Patent Document 2).
JP 2005-046980 A

In addition, there has been proposed a robot hand that has a rotatable thumb ball and has excellent stability (see, for example, Patent Document 3).
JP 2004-351567 A

Patent Document 4 proposes a prosthetic hand (same as a robot hand) that can change the shape of the thumb by rotating the base of the thumb (for example, see Patent Document 4).
JP 2001-104349 A

  However, the technology described in Patent Document 1 has a simple drive mechanism and design is also considered, but when requesting to maintain a more human appearance, there is a limit to the size of the motor, so the gripping operation There is no margin in driving force at the time. In addition, it may be difficult to obtain a sufficient gripping torque with only the driving motor. Here, it is required to modify the drive system in order to increase the gripping torque.

  The technique described in Patent Document 2 is based on the premise that a driving source is arranged for each finger, and there is a difficulty in improving the design.

  Furthermore, the techniques described in Patent Documents 3 and 4 are aimed at improving the grip efficiency by changing the position of the thumb, but the design is not considered, and the appearance is improved by introducing this technique. There is concern that it is likely to be damaged.

  Again, in robot hands that require a human-like appearance (designability), there is a need for an auxiliary drive source arrangement and method of use when a drive source large enough to maintain the appearance cannot be used. The

  In addition, in applications that require the appearance and design of a human-like hand (robot hand), there is a demand for a thumb position change mechanism that enables more efficient gripping during gripping operation while maintaining the appearance design. .

  The present invention has been made in view of such circumstances, and in a multi-fingered multi-joint artificial hand in which appearance (designability) is regarded as important as a human-like hand, with the power of only a driving source. As a technical means that can be used when gripping operation is difficult, a shape memory material is used as an auxiliary drive source (element) to improve the finger joint drive mechanism related to its arrangement and control, and functionality during gripping operation For a gripping object including a different-diameter object, the gripping torque for bending the finger joint is increased, and the gripping operation including the thumb is applied to a living body (human). Provided are a multi-finger movable robot hand improved so as to have a close soft behavior and a finger joint drive control method in the hand.

In order to solve the problem, the first invention is configured as a multi-finger multi-joint artificial hand, and has movable fingers in which the respective finger joints are refracted to the palm side and pivotally connected so as to be able to return to stretch. A bending / extension guide wire member is inserted into the movable finger, and the inter-finger connecting portion is engaged with a movable body that can be driven back and forth in the wrist direction to perform a pulling operation. In a multi-finger movable robot hand that performs motion control,
A multi-finger movable robot hand with improved finger joint drive mechanism,
A flexure-extension-inducing line member is made of a fixed-length shape memory material and provided with an energization control means. The shape memory material is contracted or restored in the longitudinal direction to flex the finger joint. The present invention is characterized in that the gripping torque at the time of driving is increased.

The second invention is configured as a multi-finger, multi-joint artificial hand, and has movable fingers in which each finger joint is refracted to the palm side and is pivotally connected so as to be able to return to stretch. Multi-finger movable that performs movement control related to gripping or opening operation including stationary behavior by inserting a member and locking the finger contact part to a moving body that can be driven forward and backward in the wrist direction In the robot hand,
A multi-finger movable robot hand that performs cooperative power transmission via a driving auxiliary linear member provided independently of the power transmission element in the palm part,
While using a fixed-length shape memory material as the drive auxiliary linear member, and providing its energization control means,
The shape memory material has a starting end on the moving body, and a terminal end on the wrist side, is stretched in parallel with the power transmission direction, and is connected to the energization control means in a circuit,
The shape memory material is driven to contract or recover in shape in the longitudinal direction, thereby increasing the gripping torque when the finger joint is flexibly driven.

  In any of the above cases, the movable finger is composed of a pointing finger, a middle finger, a ring finger, and a little finger (hereinafter referred to as four fingers) arranged substantially in parallel, and a thumb finger that is movably attached independently of the four fingers, There are cases where five fingers are configured so that the orientation angle or positional relationship of the thumb is manually changed so that the finger can be arranged to face the four fingers and the finger row can be arranged outside the palm.

3rd invention is comprised as a multi-finger multi-joint artificial hand, has a movable finger which connected each finger joint to the palm side so that it can be refracted, and was able to be extended and returned, and it was bent to the adjacent movable finger. The movement control related to the grasping or opening operation including the stationary behavior is performed by inserting the member and engaging the moving part that can be driven forward and backward in the wrist direction by pulling the member and pulling it. In the finger joint drive control method in the multi-finger movable robot hand,
A finger joint drive control method in a multi-finger movable robot hand for augmenting a gripping torque when bending and driving a finger joint,
It is characterized in that the shape memory material is contracted or restored in the longitudinal direction by controlling energization using a fixed length shape memory material on the bending / stretching induction linear member provided on the finger part. is there.

4th invention is comprised as a multi-finger multi-joint artificial hand, has a movable finger which connected each finger joint to the palm side so that it can be refracted, and was able to be extended and returned, and it was bent to the adjacent movable finger. The movement control related to the grasping or opening operation including the stationary behavior is performed by inserting the member and engaging the moving part that can be driven forward and backward in the wrist direction by pulling the member and pulling it. In the finger joint drive control method in the multi-finger movable robot hand,
A multi-finger movable robot hand that performs cooperative power transmission via a drive auxiliary linear member provided independently of the power transmission element on the palm to increase the gripping torque when the finger joint is driven to bend A finger joint drive control method in
By using a fixed-length shape memory material for the drive auxiliary line member, placing the starting end on the moving body, and placing the terminal end on the wrist side in parallel with the power transmission direction, The shape memory material is driven to contract or drive in shape recovery in the longitudinal direction.

  According to the present invention, it is possible to reinforce the shape recovery by energizing the shape memory material at the timing when the gripping torque is most needed, thereby increasing the gripping function (griping torque).

  In addition, before performing the gripping operation, the thumb joint angle can be manually changed and moved to a position facing the four fingers, and the gripping target can be firmly gripped. In addition, when it is not during the gripping operation, it can be made to have a natural human appearance (finger row arrangement) by moving it outside the palm.

  As described above, since the positional relationship between the thumb and the other four fingers is close to the structure of a living body (human) finger, a soft behavior and a human appearance can be realized both during the gripping operation and during other than the gripping operation. Can do.

  The best mode for carrying out the present invention is that in the hand configured as described above, a link material that is a skeleton element of a finger is rotatably coupled, and a torsion spring is provided at each pivotal fulcrum to extend the direction of the finger. A plurality of movable fingers that are urged to form a finger joint, a bending / stretching guide line member that induces refraction of the movable fingers, and a power transmission element that is housed in the palm and is driven by a single drive source It has a moving body that is driven to move back and forth so that it can reciprocate in the wrist direction and finger direction, and two or more movable parts excluding the thumb finger are operated by pulling or relaxing the bending / stretching guide wire member based on the drive control of the moving body A finger joint drive mechanism is provided that operates a finger separately and performs motion control related to a grasping or releasing operation including a stationary behavior. This specific hand configuration is substantially the same as the basic configuration of Patent Document 1 in the following points. In addition, you may understand a bending / stretching induction | stretching linear member similarly to the flexible member which is a component of patent document 1. FIG.

  A link material, which is a skeleton element of fingers, is pivotally connected to form a joint, and four fingers (indicator, middle finger, ring finger, and little finger) arranged in parallel are arranged so as to face those fingers. For the four fingers excluding the thumb, a bending / stretching guide wire member that can be pulled via each rotation fulcrum of the link material as a joint is connected to each of the rotation fulcrum. A point that is energized in the direction of finger extension.

  Further, a moving body that is driven forward and backward using a screw element, can reciprocate in the wrist direction and the finger direction based on on / off of the driving source or intermittent power transmission, and can stop braking at an arbitrary position, and a body portion of the moving body And a swinging pulley unit pivotally supported on the both ends of the swinging member, and a moving pulley unit that is pivotally supported on both ends of the swinging member and is held in the form of a dual-supported balance. There are points.

  In addition, the bending-extension guide line member starts the body part of the link material of the first finger bone part of each of the two fingers by interposing a movable pulley between each of the adjacent index finger and middle finger, and the ring finger and little finger except for the thumb. Or a fixed-length filament that terminates in a free-running pulley at each rotation fulcrum of the link material and pulled through an intermediate pulley provided in the body of the link material of the second phalange portion It is connected in a possible manner.

  In addition, by moving each holding position of the moving pulley together with the moving pulley unit to the wrist side or finger side, each finger excluding the thumb finger is held or released in the bending or extending direction including the static behavior via the bending / stretching induction linear member. Each of the finger joint drive mechanisms to be operated and the gripping operations including stationary behaviors are adjusted or held by bringing the fingers into contact with the gripping objects including different diameter objects and adjusting or holding the tension of the bending / stretching induction linear member in the finger joint drive. It has a different-diameter object gripping mechanism that maintains the gripping force by bending so that the finger joint wraps around the outer shape of the object to be gripped, and the static behavior is based on the stop of driving of power or control. The point that the state or the gripping state is temporarily maintained or continued while being kept stationary against the urging force.

  In addition to these basic configurations, it is movably mounted so that the orientation angle or positional relationship can be changed manually, independently of the four fingers, can be placed opposite to the four fingers during a gripping operation, and can be placed in a palm other than during the gripping operation. It has a thumb that is configured so that it can be placed on the outside.

  In addition, the finger joint drive mechanism has been modified to operate two or more movable fingers, excluding the thumb, separately, and to perform motion control related to gripping or releasing motion including stationary behavior, as one selective technical means In addition to using a fixed-length shape memory material for the bending / stretching induction filament member provided on the finger part, its energization control means is provided so that the bending / extension induction filament member is driven to contract or recover in shape in the longitudinal direction. Yes. As a result, the gripping torque when bending the finger joint is increased.

  Further, as another optional technical means, a fixed-length shape memory material is used for a driving auxiliary linear member provided independently of a power transmission element between a driving source and a moving body in the palm portion, and the energization thereof is performed. A control means is provided to drive the drive auxiliary linear member in a contraction drive or a shape recovery drive in the longitudinal direction. Thereby, the power transmission element (or auxiliary drive source) which cooperates with a motor drive is expanded.

  Here, the drive auxiliary linear member is placed in parallel with the power transmission direction with the start end on the moving body and the end on the wrist side, and is connected to the energization control means in a circuit.

  In any of the above selective technical means, a linear member made of a shape memory alloy (hereinafter referred to as shape memory metal) or a shape memory polymer (hereinafter referred to as shape memory plastic) is used as the shape memory material. Can do. Of course, the shape memory plastic is a conductive plastic.

  A multi-finger movable robot hand [hereinafter referred to as a first, second, or third embodiment hand] according to an embodiment of the present invention. ] Will be described below with reference to the accompanying drawings.

  FIG. 1 is a schematic explanatory diagram of the structure of the first embodiment hand.

  FIG. 2 is a schematic explanatory diagram of the structure of the second embodiment hand.

  FIG. 3 is a schematic explanatory diagram of the structure of the third embodiment hand.

  The difference in the configuration of each of the embodiments is that the position where the shape memory metal is disposed and the manner in which the shape memory metal is disposed are different. In the first embodiment hand (FIG. 1), the bending / stretching guide wire member arranged on the movable finger is made of a shape memory metal, and the second embodiment hand (FIG. 2) and the third embodiment hand (FIG. 3). In either case, the drive auxiliary linear member provided along with the wire (power transmission element) pulled by the drive motor as the drive source is made of a shape memory metal. The difference in configuration between the second embodiment hand (FIG. 2) and the third embodiment hand (FIG. 3) is the way in which the shape memory metal is arranged (how to place it in the palm). . It is also considered to use shape memory plastic instead of shape memory metal. In both cases, the operational effect (recovery of shape) relating to the increase in gripping torque is common.

  FIG. 4 is an explanatory diagram showing the configuration of the movable finger and the finger joint drive mechanism.

  FIG. 5 is an explanatory diagram showing the relationship between the finger joint drive (during a gripping operation) of the movable finger (four fingers excluding the thumb) and the energization control of the shape memory metal.

  FIG. 6 is an explanatory diagram showing a hand structure (common to the examples) in which five fingers including the thumb are movable fingers.

  FIG. 7 is a partial explanatory view showing the thumb joint structure (common to the examples).

  FIG. 8 is an explanatory diagram showing the mobility of the thumb (common to the examples).

Example 1
As shown in FIG. 1, the first embodiment hand X includes a moving body 10 that reciprocates by the rotational power of a driving motor 1; 2 that is a power source provided on a palm by a moving pulley 15; 16, and the body. Are pivotally supported at both ends of the swinging member 12 that is pivotally supported by the unit, and are held in a saddle-like manner in the form of a both-end balance, and the movable pulley 15; 16, the movable body 10 and the swinging member 12 are integrated. It has a moving pulley unit that is assembled to the vehicle.

  The moving body 10 which is one component of the moving pulley unit is attached to the slider 9 and linked to the driving motor 1; 2 provided at the palm portion of the rear end of the moving body 10 via the traction element. The traction element is wound or unwound by the rotational power generated from the drive motor 1; 2, and the moving pulley unit including the moving body 10 is reciprocated.

  Here, the traction element is composed of the wires 7; 8, the drum-equipped rotating gear 5; 6, and the worm gear 3; 4, which are arranged on the wrist side at the rear end of the slider 9, and the worm gear 3; Is rotated by the drive motor 1; 2 to move the moving pair 10 back and forth.

  Based on the winding operation, while pulling the moving body 10 [moving pulley unit] closer to the wrist, the bending / stretching induction linear members 17; 18, 19; 20 are pulled to generate a gripping force to stop driving or winding. The gripping state is maintained based on the unwinding operation, and the movable body 10 [moving pulley unit] is pushed back toward the finger while the bending-inducing and guiding linear members 17; 18, 19; 20 are relaxed to release the gripping force. Yes.

  As shown in FIG. 4, the finger joint driving mechanism reciprocates each holding position of the moving pulley (reference numerals 15 and 16 in FIG. 1) by rotational power, and based on the normal rotation, the bending / stretching induction linear member 58 (FIG. 1). The same sign 17; 18, or 19; 20) is pulled, and the first phalange 62 and the second phalange 63, which are link members, are resisted against the elastic force of the torsion spring 64; 65 while bending the finger. The gripping force is generated in two or more fingers excluding the thumb, and the gripping state is maintained based on the drive stop or the rotation stop, and the bending-extension induction wire member 58 (reference numeral 17 in FIG. 18 or 19; 20) is released or released, and the restraint of the torsion spring 64; 65 is gradually released. The first phalange 62 and the second phalange 63, which are link materials, are returned in the finger extending direction to generate a restoring force on two or more fingers.

  The different-diameter object gripping mechanism brings two or more fingers and thumbs into contact with a gripping object including a different-diameter object, so that a bending-extension guide wire member 58 (reference numeral 17 in FIG. 1; 18 or 19 in FIG. 1). The same tension as that of 20), and each finger joint is bent so as to wrap the object to be grasped following the outer shape to maintain the grasping force.

  In the above-described configuration, the bending / stretching induction linear member 17; 18 communicating with the first movable finger (indicating finger 21) and the second movable finger (middle finger 22), and the third movable finger (ring finger 23) and the fourth By using a shape memory metal that generates heat when energized and shortens the length of the wire as the bending-extension induction wire member 19; 20 communicating with the movable finger (little finger 24), it is possible to move in the wrist direction when gripping. In order to compensate for the gripping torque that is insufficient with only the power, the shape memory metal is energized only at the timing when the gripping torque is most needed, and the shape recovery drive is performed to realize an accurate gripping operation. FIG. 5 shows the relationship between the finger joint drive (at the time of gripping operation) of the movable finger (four fingers excluding the thumb) and the energization control of the shape memory metal. Hereinafter, the bending / stretching induction linear member is described as a shape memory metal [reference numerals 17, 18, 19, 20].

  Furthermore, as shown in FIGS. 6, 7, and 8, the thumb is also provided with mobility, and in a hand-free state where gripping is not performed, the thumb is placed outside the palm to realize a more human-like appearance. Can do.

  Further, when gripping, the efficiency of gripping is improved by moving the thumb position to a position facing four fingers other than the thumb finger. The movement of the thumb position is manually operated, but a configuration may be employed in which a drive source is separately arranged and mechanically operated.

  The finger joint drive mechanism (action or operation) of the hand X of the first embodiment will be described below with reference to FIGS.

  A control signal is output from the controller 30 to the driving motor 1; 2 as a driving source via the electric wire 28 and the electric wire 29, and from the driving motor 1; 2 to the rotating gear 5; 6 via the worm gear 3; When the power is transmitted and the wires 7 and 8 are pulled, the moving body 10 arranged on the slider 9 moves to the right in the axial direction of the slider 9.

  In accordance with this timing, a current is supplied from the controller 30 to the shape memory metals 17; 18 and the shape memory metals 19; 20 via the electric wires 25, 26, and 27. As a result, the wire length is shortened (the shape recovery drive is performed) to generate a traction force, and the gripping torque (gripping force) related to the bending of the finger joint is compensated. Note that this timing refers to a point in time when gripping force becomes insufficient during a series of gripping operations and gripping becomes impossible.

  The moving body 10 transmits power to the swing member 12 that freely rotates around the pin 11. The swing member 12 transmits power to the moving pulley 15 and the moving pulley 16 via the pin 13 and the pin 14. The movable pulley 15 pulls the shape memory metal 17; 18. Similarly, the moving pulley 16 pulls the shape memory metal 19; 20. The shape memory metal 17 moves the index finger 21. Similarly, the shape memory metal 18 moves the middle finger 22, the shape memory metal 19 moves the ring finger 23, and the shape memory metal 20 moves the little finger 24, respectively.

  Here, when the movements of the index finger 21 and the middle finger 22 are constrained, the shape memory metal 17; 18 cannot be pulled, so that the moving pulley 15 cannot move, but the moving pulley 16 can move. Therefore, power can be transmitted to the ring finger 23 and the little finger 24 via the shape memory metal 19; 20.

  Furthermore, if the movement of the ring finger 23 is restricted, the shape memory metal 19 cannot be pulled, but the shape memory metal 20 can be pulled to move the little finger 24. In order to maintain the gripping force (state), the drive (source) is stopped. This is because the worm gear 3 and the worm gear 4 originally have a braking function. Therefore, it is not necessary to separately provide a braking means (brake).

  Further, the second embodiment hand Y [FIG. 2] and the third embodiment hand Z [FIG. 3] are each provided with driving assistance provided with a wire (power transmission element or traction element) pulled by a driving motor as a driving source. The linear members 35 and 52 are made of shape memory metal. Hereinafter, the driving auxiliary linear member is described as a shape memory metal [reference numeral 35, 52]. Here, the difference between the two is the manner in which the shape memory metals 35 and 52 are arranged, that is, the manner in which they are attached to the palm or not. Naturally, the longer (longer) the line length is, the larger the expansion / contraction stroke is. Therefore, the line length design makes it possible to increase the period (time interval) and the stroke compensation adjustment.

  As shown in the figure, along with the wire (power transmission element or traction element) arranged at the rear end of the moving body 10 [moving pulley unit] mounted on the slider, the shape of the wire is shortened by generating heat when energized. The memory metals 35 and 52 are provided, and the shape memory metals 35 and 52 are provided only at the timing when the gripping torque is most needed to compensate for the gripping torque that is insufficient only with the power that enables movement in the wrist direction during the gripping operation. Energization is performed so that an accurate gripping behavior can be performed. Each of the second and third embodiment hands Y and Z will be described below.

(Example 2)
The second embodiment hand Y [FIG. 2] is a shape memory metal in which a drive auxiliary linear member 35 attached to a wire 7; 8 (power transmission element or traction element) pulled by a driving motor 1; It consists of.

  The controller 42 outputs a control signal from the controller 42 to the drive motor 1; 2 via the electric wires 40; 41, and moves the movable body 10 [moving pulley unit] mounted on the slider 9 to the right. 1 (first embodiment hand X). In this embodiment hand Y, the bending / stretching guide wire members 31; 32; 33; 34 in the finger joints are not shape memory metals but are made of flexible members (usually wires).

  In addition to the wires 7 and 8 (power transmission elements or traction elements) arranged at the rear end of the moving body 10 [moving pulley unit], a shape memory metal 35 that generates heat when energized and shortens the length of the line is disposed. In order to compensate for the gripping torque that is insufficient with only the power that enables movement in the wrist direction during gripping operation, only the timing when the gripping torque is most needed is connected to the shape memory metal 35 via the electric wires 38 and 39. Then, a current is supplied from the controller 30 and energized so that an accurate gripping behavior is performed.

  This embodiment hand Y corresponds to an example in which a structure for fixing the end of the shape memory metal such as a fixed pin arrangement member 37 in which the illustrated fixed pin 36 is arranged outside the palm portion of the palm portion can be produced.

(Example 3)
In the third embodiment hand Z (FIG. 3), the drive auxiliary linear member 52 provided along with the wires 7; 8 (power transmission element or traction element) pulled by the drive motor 1; It consists of.

  The controller 57 outputs a control signal from the controller 57 to the drive motor 1; 2 via the electric wires 55; 56, and moves the movable body 10 [moving pulley unit] mounted on the slider 9 to the right. 1 (first embodiment hand X). In this embodiment hand Z, the bending / stretching guide wire members 43; 44; 45; 46 in the finger joints are not shape memory metals but are made of flexible members (usually wires).

  The shape memory metal 52 is disposed between the shape memory metal fixing member 47 attached to the rear end of the moving body 10 and the shape memory metal fixing member 48 disposed at the wrist motor position. Both ends are fixed on the shape memory metal fixing member 48 with fixing pins 51a; 51b, pins 49a; 49b; 49c; 49d on the shape memory metal fixing member 47, and pins 50a; 50b on the shape memory metal fixing member 48; 50c is reciprocated and placed.

  The shape memory metal 52 that generates heat when energized and shortens the line length is provided in parallel with the wires 7; 8 (power transmission element or traction element) disposed at the rear end of the moving body 10 [moving pulley unit]. In order to compensate for a gripping torque that is insufficient with only the power that enables the movement in the wrist direction during the gripping operation, the wire 53 is connected to the shape memory metal 52 only at the timing when the gripping torque is most needed. A current is supplied from the controller 57 via 54, and an accurate gripping behavior is performed.

  This embodiment hand Z corresponds to a case where the end of the shape memory metal cannot be fixed outside the palm portion of the palm portion like the second embodiment hand Y.

It is a composition outline explanatory view of the 1st example hand. It is a composition outline explanatory view of the 2nd example hand. It is a composition outline explanatory view of the 3rd example hand. It is explanatory drawing which shows the structure of a movable finger, and a finger joint drive mechanism. It is explanatory drawing which shows the relationship between the finger joint drive (at the time of holding | grip operation | movement) of a movable finger (4 fingers except a thumb), and the energization control of a shape memory metal. It is explanatory drawing which shows the hand structure (common) which uses 5 fingers including a thumb as a movable finger. It is a partial explanatory view showing a thumb joint structure (common). It is explanatory drawing which shows the mobility (common) of a thumb.

Explanation of symbols

1 Drive motor [drive source]
2 Drive motor [drive source]
3 Worm Gear 4 Worm Gear 5 Rotating Gear 6 Rotating Gear 7 Wire [Power Transmission Element]
8 Wire [Power transmission element]
9 Slider
10 Moving object (moving pulley unit)
11 pin (moving pulley unit)
12 Swing member (moving pulley unit)
13 pin (moving pulley unit)
14 pin (moving pulley unit)
15 Moving pulley (moving pulley unit)
16 Moving pulley (moving pulley unit)
17 Shape memory metal (bend-stretch induction wire member)
18 Shape memory metal (bend-stretch induction wire member)
19 Shape memory metal (bend-stretch induction wire member)
20 Shape memory metal (bend-stretch induction wire member)
21 Index finger (first movable finger)
22 Middle finger (second movable finger)
23 Ring finger (third movable finger)
24 little finger (fourth movable finger)
25 Electric wires (shape memory metal energization wiring)
26 Electric wire (shape memory metal energization wiring)
27 Electric wire (shape memory metal energization wiring)
28 Electric wires (motor energization wiring)
29 Electric wires (motor energization wiring)
30 Controller (energization control means)
31 Bend-stretch induction wire member
32 Bend-stretch induction wire member
33 Bending-inducing wire member
34 Bending-stretch induction wire member
35 Shape memory metal (drive auxiliary line member)
36 Pin (Terminal)
37 Fixed pin placement member (wrist side)
38 Electric wires (shape memory metal energization wiring)
39 Electric wires (shape memory metal energization wiring)
40 Electric wires (shape memory metal energization wiring)
41 Electric wires (motor energization wiring)
42 Controller (energization control means)
43 Bending-stretching induction wire member
44 Flexion-inducing wire member
45 Flexion-inducing wire member
46 Bending-stretching guide wire member
47 Shape memory metal fixing member
48 Shape memory metal fixing member
49a pin
49b pin
49c pin
49d pin
50a pin
50b pin
50c pin
51a Fixing pin
51b Fixing pin
52 Shape memory metal [Driving auxiliary linear member]
53 Electric wire (shape memory metal energization wiring)
54 Electric wire (shape memory metal energization wiring)
55 Electric wires (motor energization wiring)
56 Electric wires (motor energization wiring)
57 Controller (energization control means)
58 Bending-stretching induction wire member
59 Second joint pulley
60 Intermediate pulley
61 First joint pulley
62 First phalange (link material)
63 Second phalange (link material)
64 Torsion spring
65 Torsion spring
66 thumb joint anchor
67 Ball Jonto
68 Second finger bone X First embodiment hand Y Second embodiment hand Z Third embodiment hand

Claims (7)

It is constructed as a multi-finger multi-joint artificial hand, each finger joint has a movable finger that is refracted to the palm side and pivotally connected so as to be able to return to stretch, and a bending guide wire member is inserted into the adjacent movable finger, and In the multi-finger movable robot hand that performs the motion control related to the gripping or releasing operation including the stationary behavior by engaging the towing operation by locking the inter-finger connecting portion with a movable body that can be driven to advance and retreat in the wrist direction,
A flexure-extension-inducing line member is made of a fixed-length shape memory material and provided with an energization control means. The shape memory material is contracted or restored in the longitudinal direction to flex the finger joint. A multi-fingered robot hand characterized in that the gripping torque for driving is increased. It is constructed as a multi-finger multi-joint artificial hand, each finger joint has a movable finger that is refracted to the palm side and pivotally connected so as to be able to return to stretch, and a bending guide wire member is inserted into the adjacent movable finger, and In the multi-finger movable robot hand that performs the motion control related to the gripping or releasing operation including the stationary behavior by engaging the towing operation by locking the inter-finger connecting portion with a movable body that can be driven to advance and retreat in the wrist direction,
A multi-finger movable robot hand that performs cooperative power transmission via a driving auxiliary linear member provided independently of the power transmission element in the palm part,
While using a fixed-length shape memory material as the drive auxiliary linear member, and providing its energization control means,
The shape memory material is formed by placing a starting end on a moving body and an end on the wrist side, and being stretched in parallel with the direction of power transmission, and connected to the energization control means. A multi-finger movable robot hand characterized in that the gripping torque at the time of bending driving of the finger joint is augmented by contraction driving or shape recovery driving in the longitudinal direction. Represented by multi-finger and multi-joint myoelectric control prosthetic hands, link materials that serve as the skeleton elements of the fingers are rotatably coupled, and torsion springs are provided at the pivoting fulcrums to bias the fingers in the extending direction. A plurality of movable fingers that form finger joints, a bending / stretching guide line member that induces refraction of the movable fingers, a wrist direction and fingers through a power transmission element by a single drive source housed in a palm portion A movable body that is driven back and forth so as to be reciprocally movable in a direction, and two or more movable fingers excluding the thumb are moved by pulling or loosening the bending / stretching guide wire member based on drive control of the movable body. In a multi-finger movable robot hand equipped with a finger joint drive mechanism that operates separately and performs motion control related to gripping or releasing operation including stationary behavior,
By using a fixed-length shape-memory material for the bending / stretching induction linear member provided on the finger part, and by providing its energization control means, the bending / extension induction linear member is driven to contract or recover in shape in the longitudinal direction. A multi-finger movable robot hand characterized in that the gripping torque at the time of bending and driving the finger joint is increased. Represented by multi-finger and multi-joint myoelectric control prosthetic hands, link materials that serve as the skeleton elements of the fingers are rotatably coupled, and torsion springs are provided at the pivoting fulcrums to bias the fingers in the extending direction. A plurality of movable fingers that form finger joints, a bending / stretching guide line member that induces refraction of the movable fingers, a wrist direction and fingers through a power transmission element by a single drive source housed in a palm portion A movable body that is driven back and forth so as to be reciprocally movable in a direction, and two or more movable fingers excluding the thumb are moved by pulling or loosening the bending / stretching guide wire member based on drive control of the movable body. In a multi-finger movable robot hand equipped with a finger joint drive mechanism that operates separately and performs motion control related to gripping or releasing operation including stationary behavior,
While using a fixed-length shape memory material for the driving auxiliary linear member provided independently of the power transmission element in the palm part, and providing its energization control means,
The driving auxiliary linear member is placed on the movable body with a starting end, and is placed on the wrist side in parallel with a power transmission direction with a terminal end, and is connected to the energization control means in a circuit,
A multi-finger movable robot hand characterized in that a gripping torque at the time of bending driving of a finger joint is augmented by contraction driving or shape recovery driving of the driving auxiliary linear member in the longitudinal direction. The multi-finger movable robot hand according to any one of claims 1 to 4,
The movable finger includes a pointing finger, a middle finger, a ring finger, and a little finger (hereinafter referred to as four fingers) arranged substantially in parallel, and a thumb that is movable and attached independently of the four fingers, and the orientation angle of the thumb or A multi-finger movable robot hand characterized in that the positional relationship can be arranged to face the four fingers and manually changed so that a finger row can be arranged outside the palm. It is constructed as a multi-finger multi-joint artificial hand, each finger joint has a movable finger that is refracted to the palm side and pivotally connected so as to be able to return to stretch, and a bending guide wire member is inserted into the adjacent movable finger, and In the multi-finger movable robot hand that performs the motion control related to the gripping or releasing operation including the stationary behavior by locking the inter-finger connecting portion to the movable body that can be driven to advance and retreat in the wrist direction and pulling it. In the finger joint drive control method,
A finger joint drive control method in a multi-finger movable robot hand for augmenting a gripping torque when bending and driving a finger joint,
A multi-finger characterized in that the shape memory material is contracted or restored in the longitudinal direction by controlling energization using a fixed length shape memory material on the bending / stretching guide wire member provided on the finger part. A finger joint drive control method for a movable robot hand. It is constructed as a multi-finger multi-joint artificial hand, each finger joint has a movable finger that is refracted to the palm side and pivotally connected so as to be able to return to stretch, and a bending guide wire member is inserted into the adjacent movable finger, and In the multi-finger movable robot hand that performs the motion control related to the gripping or releasing operation including the stationary behavior by locking the inter-finger connecting portion to the movable body that can be driven to advance and retreat in the wrist direction and pulling it. In the finger joint drive control method,
A multi-finger movable robot hand that performs cooperative power transmission via a drive auxiliary linear member provided independently of the power transmission element on the palm to increase the gripping torque when the finger joint is driven to bend A finger joint drive control method in
By using a fixed-length shape memory material for the drive auxiliary line member, placing the starting end on the moving body, and placing the terminal end on the wrist side in parallel with the power transmission direction, A finger joint drive control method for a multi-finger movable robot hand, characterized in that the shape memory material is contracted or restored in the longitudinal direction.

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