Manipulator

Abstract

This robot hand is provided with: a tubular root actuator, one side of the tube circumference of which is curved so as to contract in the tube axis direction in response to an increase in the internal pressure inside the tube; a frame member that is disposed along the cylinder axis direction of the root actuator, supports the root actuator, and has an expansion and contraction section that expands and contracts in accordance with bending deformation of the root actuator; and a plurality of cylindrical finger actuators which are mounted so as to be separated from each other in the extension direction of the root actuator so as to extend in the direction intersecting the cylinder axis and so that one end thereof is fixed to the frame member and the other end thereof is a free end. One side of the cylinder circumference of the finger actuator is bent so as to contract in the cylinder axial direction according to the increase of the internal pressure in the cylinder.

Description

Technical Field

[0001] The present disclosure relates to a robot arm. Background Art

[0002] Conventionally, as a fluid pressure actuator, a McKibben type fluid pressure actuator having a rubber tube and a sleeve (a sleeve into which high-tensile fibers are braided) covering the outer surface of the rubber tube is known.

[0003] Such a McKibben-type fluid pressure actuator can change the axial length of the rubber tube and the sleeve. In addition, a technique has been proposed in which a restraining member is provided in a portion of the circumference from one axial end to the other end of the rubber tube, so that the side of the fluid pressure actuator where the restraining member is not provided is contracted and bent (see Japanese Patent Publication No. 2021-88999). Summary of the invention

[0004] Problem that the invention aims to solve

[0005] It is possible to use a plurality of such fluid pressure actuators to hold an object while adjusting the curvature. In addition, it is sought to make a plurality of fluid pressure actuators move relative to each other to cope with the holding and movement of various objects.

[0006] The present disclosure has been made in view of the above-mentioned facts, and an object of the present disclosure is to easily change the positional relationship between a plurality of finger actuators to improve performance.

[0007] Solutions for solving problems

[0008] In order to achieve the above-mentioned purpose, the robot arm of the first technical solution comprises: a cylindrical root actuator, one side of whose cylindrical wall bends and contracts in the cylindrical axis direction according to the increase of internal pressure in the cylinder; a frame member, which is arranged along the cylindrical axis direction of the root actuator and supports the root actuator, and has a telescopic portion that telescopes and contracts following the bending deformation of the root actuator, and the frame member bends and deforms following the bending deformation of the root actuator; and a cylindrical finger actuator, which is installed separately in the extending direction of the root actuator in a manner of extending in a direction intersecting the cylindrical axis and with one end fixed to the frame member and the other end becoming a free end, and one side of the cylindrical circumference of the finger actuator bends and contracts in the cylindrical axis direction according to the increase of internal pressure in the cylinder.

[0009] The robot arm of the first technical solution includes a root actuator, a frame member, and a finger actuator. The root actuator and the finger actuator are configured to be cylindrical, and one side of the circumference of the cylinder is bent and contracted in the cylinder axis direction according to the increase in the internal pressure in the cylinder. The frame member is arranged along the cylinder axis direction of the root actuator and supports the root actuator, and has a telescopic portion that expands and contracts following the bending deformation of the root actuator. The frame member bends and deforms following the bending deformation of the root actuator. In addition, a plurality of finger actuators are separately mounted on the frame member in the extending direction of the root actuator in a manner that extends in a direction intersecting the cylinder axis of the root actuator and in a manner that one end is fixed and the other end becomes a free end.

[0010] The root actuator is supported by the frame member and bends in response to the increase in internal pressure. The frame member follows the bending deformation of the root actuator by extending or contracting the telescopic portion. As a result, the positional relationship between the ends of the plurality of finger actuators can be changed. Therefore, the positional relationship between the plurality of finger actuators can be changed according to the position and shape of the object, thereby improving the performance of holding and moving.

[0011] The robot according to a second technical solution is the robot according to the first technical solution, wherein the frame member has support node members respectively provided at the mounting positions of the plurality of finger actuators, and the telescopic portion connects adjacent support node members to each other.

[0012] In the robot of the second technical solution, since the finger actuator is arranged in the support node component and the support node components are connected to each other by the telescopic part, the support position and the position of the telescopic part can be offset in the cylindrical axis direction, so that the root actuator can be operated with better balance.

[0013] The robot according to a third aspect is the robot according to the first aspect or the second aspect, wherein the telescopic portion is formed of a leaf spring that bends following bending deformation of the base actuator.

[0014] In the robot arm of the third aspect, the telescopic portion can be simply constituted by the leaf spring.

[0015] A robot according to a fourth aspect is the robot according to any one of the first to third aspects, wherein one end of the base actuator is fixed to the frame member, and the other end is a free end.

[0016] In the robot according to the fourth aspect, since the other end is a free end, relative movement between the root actuator and the frame member in the cylindrical axis direction is allowed when the root actuator is bent and deformed, so that the root actuator can be bent and deformed smoothly.

[0017] The robot according to a fifth aspect is the robot according to any one of the first to fourth aspects, wherein the frame member is integrally formed.

[0018] According to the robot arm of the fifth aspect, the frame member can be formed integrally and simply.

[0019] Effects of the Invention

[0020] According to the present disclosure, the positional relationship between a plurality of finger actuators can be easily changed to improve performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a perspective view of the robot hand according to the first embodiment as viewed from the inner side of the curve.

[0022] Figure 2 This is a perspective view of the robot hand according to the first embodiment as viewed from the inner side of the curve.

[0023] Figure 3 It is a partially exploded perspective view of the root actuator.

[0024] Figure 4 is a cross-sectional view of the root actuator.

[0025] Figure 5 is a plan view of the finger actuator.

[0026] Figure 6 It is a plan view showing the operating state of the robot according to the first embodiment.

[0027] Figure 7 This is a three-dimensional view of a support node member that is a part of a frame member as viewed from the inner side of a curve.

[0028] Figure 8 This is a three-dimensional view of a support node member that is a part of a frame member as viewed from the outside of the bend.

[0029] Fig. 9 This is a perspective view of the robot hand (after operation) according to the first embodiment as viewed from the inner side of the curve.

[0030] Fig.10 This is a perspective view of the robot hand according to the second embodiment (before operation) as viewed from the inner side of the curve.

[0031] Fig.11 It is a top view of the robot hand (before operation) according to the second embodiment.

[0032] Fig.12 This is a perspective view of the robot hand (after operation) according to the second embodiment as viewed from the inner side of the curve.

[0033] Fig.13 It is a top view of the robot arm (after operation) according to the second embodiment. DETAILED DESCRIPTION

[0034] Hereinafter, embodiments for realizing the technology of the present disclosure will be described in detail with reference to the drawings.

[0035] In addition, in all the drawings, the same reference numerals are given to components and processes having the same role and function, and repeated descriptions may be appropriately omitted. In addition, the present disclosure is not limited to the following embodiments, and can be implemented by appropriately adding changes within the scope of the purpose of the present disclosure.

[0036] <First Embodiment>

[0037] Figure 1 and Figure 2 1 is a perspective view of the robot 10 according to the first embodiment of the present disclosure. Figure 1 The robot 10 disclosed in the present invention comprises a root actuator 20, a frame member 60 supporting the root actuator 20, and a plurality of finger actuators 40 (five in the present embodiment). The frame member 60 is bent by the operation of the root actuator 20. The finger actuator 40 can be further bent toward the inner side of the bending direction of the bent frame member 60, so that a force acts on an object not shown in the figure, thereby grasping or pressing or moving the object.

[0038] <Root Actuator 20>

[0039] like Figure 3 As shown, the root actuator 20 includes an actuator body 22, sealing members 30A and 30B (see Figure 4 ). The root actuator 20 is configured to be cylindrical as a whole.

[0040] Also like Figure 4 As shown, the actuator body 22 has a tube 24, a sleeve 26 and a restraining member 28. The tube 24 is a cylindrical shape that can be expanded and contracted by elastic deformation, and expands and contracts according to the pressure change of the fluid inside. The axial direction when the tube 24 is straight without compressed air is set as "axial direction S". The axis of the tube 24 when the root actuator 20 is bent as described later is called "bending axis SR". The tube 24 can be made of an elastic material such as butyl rubber. As the fluid supplied to the tube 24, air can be used. In this case, the root actuator 20 becomes an air actuator. In addition, when the root actuator 20 is set to be hydraulically driven, it is preferably set to at least one selected from the group consisting of NBR (nitrile rubber) with high oil resistance, hydrogenated NBR, chloroprene rubber and epichlorohydrin rubber.

[0041] The sleeve 26 is formed into a cylindrical shape covering the outer circumference of the tube 24. The sleeve 26 is a stretchable structure in which fiber cords oriented in a predetermined direction are braided, and the oriented cords intersect the axial direction S at a predetermined angle θ. The sleeve 26 has such a shape, so that it can deform like a scale that changes the angle θ, and can follow the contraction and expansion of the tube 24 while restricting the contraction and expansion.

[0042] Aromatic polyamide (aramid fiber) or polyethylene terephthalate (PET) fiber cords are preferably used as the cords constituting the sleeve 26. However, the fiber cords are not limited to such types, and other high-strength fiber cords such as PBO fiber (polyparaphenylene benzobisoxazole) may be used.

[0043] The restraining member 28 is provided between the tube 24 and the sleeve 26. The restraining member 28 is provided in a long plate shape, and its longitudinal direction is arranged along the axial direction S of the tube 24, covers a part of the outer circumference of the tube 24, and is arranged from one end of the tube 24 to the other end.

[0044] The restraining member 28 is formed of a material that does not expand or contract due to pressure, and can bend and deform in the direction in which the ends are close to each other. As the restraining member 28, a so-called leaf spring can be used. The size of the leaf spring is determined according to the size of the root actuator 20, the required holding force, etc. In addition, the material of the leaf spring is not particularly limited, but typically, it can be a material that is easy to bend and deform and can withstand compression, such as metal such as stainless steel. In addition, it can also be formed by a thin plate of carbon fiber reinforced plastic (CFRP), etc.

[0045] The sealing member 30A includes a sealing connector 32 , a locking ring 34 , and a caulking member 36 .

[0046] The sealing connector 32 has an integrally formed cover portion 32A and an insertion portion 32B. The cover portion 32A is set to have a diameter larger than the outer diameter of the tube 24, and the insertion portion 32B is formed to extend from the center of one end side of the cover portion 32A along the axial direction S. A fixing hole 32C for fixing to a frame member 60 described later is formed on the side of the cover portion 32A opposite to the insertion portion 32B. The insertion portion 32B is set to a so-called bamboo shoot shape and is inserted into one end side of the tube 24 on the inner side of the sleeve 26. As the sealing member 30A, a metal such as stainless steel can be used, but it is not limited to such a metal, and a hard plastic material can also be used.

[0047] like Figure 4 As shown, the sealed connector 32 has a flow path R. The flow path R is formed in the radial center of the insertion portion 32B and extends in the axial direction S, and communicates with the connection portion C on the side of the cover portion 32A. An air supply hose (not shown) is connected to the connection portion C, and compressed air is supplied.

[0048] The locking ring 34 is annular and is disposed outside the sleeve 26 so as to sandwich the sleeve 26 between the locking ring 34 and the insertion portion 32B, locking the sleeve 26 to the sealed connector 32. The sleeve 26 is folded back toward the outer periphery via the locking ring 34. The locking ring 34 can be made of metal, hard plastic, fiber, rubber, or other materials.

[0049] The caulking member 36 is arranged on the outer periphery of the actuator body 22 so as to cover the portion into which the insertion portion 32B is inserted, and caulks the actuator body 22 to the sealed connector 32. Thus, the actuator body 22 is fixed to the sealed connector 32. As the caulking member 36, a metal such as aluminum alloy, brass, and iron can be used.

[0050] The sealing member 30B has the sealing connector 32, the locking ring 34, and the caulking member 36 similar to the sealing member 30A. However, the sealing connector 32 does not have the fixing hole 32C, the connecting portion C, and the flow path R formed therein.

[0051] <Operation of the root actuator>

[0052] The base actuator 20 is used in a manner such that a sealing member 30A on one end side is fixed to a fixing portion 67 described later and a sealing member 30B on the other end side becomes a free end.

[0053] When compressed air flows in from the connection portion C via the air supply hose, the pressure in the root actuator 20 increases. As the internal pressure increases, the tube 24 elastically deforms and expands, and the sleeve 26 deforms as if scaling in such a way that the angle θ becomes larger, and a force is applied in the direction of contracting the length of the actuator body 22. At this time, since the outer peripheral side wall of the actuator body 22 on which the restraining member 28 is arranged is restricted from contracting, the outer peripheral wall of the actuator body 22 on the side where the restraining member 28 is not arranged when viewed from the axial direction S (hereinafter referred to as the "bent inner wall 22A") contracts. As a result, the restraining member 28 is flexed and deformed, as shown in FIG. Figure 4 As shown by the two-dot chain line, the actuator body 22 is bent as a whole. For the root actuator 20, one side of the cylinder side wall of the root actuator 20, that is, the curved inner side wall 22A, is bent in the axial direction S to contract in accordance with the increase in the internal pressure in the cylinder.

[0054] On the other hand, when the pressure of the air supplied from the air supply hose is reduced, the air flows out of the root actuator 20, and the internal pressure decreases. As the internal pressure decreases, the curvature of the curved inner wall 22A decreases, and when the pressure returns to atmospheric pressure, the actuator body 22 returns to a straight line as a whole.

[0055] <Finger Actuator>

[0056] like Figure 5As shown, the five-finger actuator 40 has the same structure as the root actuator 20, and includes an actuator body 22H, sealing members 30AH, 30BH. The actuator body 22H corresponding to the actuator body 22 includes a tube 24H, a sleeve 26H, and a restraining member 28H. In the following, the constituent members are all represented by reference numerals obtained by adding H to the end of the reference numerals of the respective structures of the root actuator 20.

[0057] In addition, a pair of fixing holes 32CH for fixing the finger actuator 40 to the frame member 60 described later is formed in the sealed connector 32H. The fixing holes 32CH are formed by a pair of holes. In addition, the top end of the sealing member 30BH is set to an R (arc) shape.

[0058] <Frame member>

[0059] like Figure 1 , Figure 2 As shown, the frame member 60 has a plurality of support node members 61 (10 in the present embodiment), and the support node members 61 are connected in the axial direction S and are configured along the root actuator 20. Since the cylindrical axis directions of the root actuator 20 and the frame member 60 are roughly consistent, the axial direction of the frame member 60 is also referred to as the axial direction S. A fixing portion 67 is provided on one end side of the axial direction S of the frame member 60, and a top support platform 68 is provided on the other end side. The frame member 60 is integrally formed of a resin material. The resin material is not particularly limited, and polyamide resin can be suitably used. In addition, as other examples of the case of resin materials, ABS, polyurethane, polyester, polyethylene, etc. can be used. Furthermore, it can also be formed of materials other than resin, such as metal materials. Considering the lightness and strength, aluminum and magnesium alloys can be suitably used. Whether it is a resin material or a metal material, it is preferably capable of being integrally formed using a 3D printer or the like.

[0060] like Figure 7 , Figure 8 As shown, each support joint member 61 is formed integrally and includes an annular portion 62 , a support portion 63 , a guide portion 64 , and a hinge member 65 .

[0061] The annular portion 62 is set to be cylindrical and can pass through the root actuator 20 in the cylinder. Hereinafter, the inner side of the bend of the root actuator 20 that passes through the frame member 60 is referred to as the "inner side of the bend RI", and the outer side of the bend is referred to as the "outer side of the bend RO". In addition, the side of the support node member 61 on which the finger actuator 30 is installed is referred to as the "lower side", and the side opposite thereto is referred to as the "upper side". In addition, the cylindrical axis direction of each support node member 61 is referred to as the "axial direction S0". When the root actuator 20 is non-curved (straight), the axial direction S0 is roughly consistent with the axial direction S. In addition, the arrow X in the figure indicates the direction along the inner side of the bend RI and the direction along the outer side of the bend RO.

[0062] A middle opening 62A is formed in the middle of the annular portion 62 in the axial direction S0. The middle opening 62A opens upward. Both outer ends of the annular portion 62 in the axial direction S0 are chamfered when viewed from the upper side so that the length in the axial direction S0 becomes shorter as the hinge member 65 described later bends toward the inner side. A bottom 62B having a flat lower surface is formed on the side (lower side) opposite to the middle opening 62A of the annular portion 62, and a mounting hole 62C is formed in the bottom 62B.

[0063] A hinge member 65 is integrally provided on the curved outer side RO of the annular portion 62. The hinge member 65 has an expansion and contraction portion 65A and a connection portion 65B. The connection portion 65B extends downward from the curved outer side RO wall of the annular portion 62 in a manner that is flush and continuous therewith, and the surface of the curved inner side RI is set to be flat, and the surface of the curved outer side RO is set to be R-shaped with a thicker thickness at the center in the cylinder axis direction.

[0064] The telescopic portion 65A is formed of a semi-cylindrical leaf spring whose direction perpendicular to the axial direction S0 is set as the axial direction (hereinafter referred to as the "axial direction Z"), and can be stretched in a direction separating one end and the other end in the circumferential direction through elastic deformation. In other words, the telescopic portion 65A can be elastically deformed in a manner that the curvature of the arc observed from its axial direction Z becomes smaller (in a manner that the degree of bending becomes smaller). The telescopic portion 65A is fixed to the ends of adjacent connecting portions 65B to connect the connecting portions 65B of adjacent supporting node members 61 to each other. Thus, the hinge member 65 can move relative to each other with the telescopic portion 65A as the center in a manner that the angle formed by the adjacent connecting portions 65B on the inner side RI of the bend changes.

[0065] A support portion 63 is provided on the lower side of the bottom 62B of the annular portion 62. The support portion 63 is provided in a plate shape, and a pair of mounting holes 63A are formed at positions corresponding to the mounting holes 62C. In addition, one end side of the support portion 63 in the cylindrical axis direction is beveled in such a manner that the outer side RO of the bend is longer in the axial direction S0 when viewed from the lower side, and extends in the axial direction S0 in such a manner as to overlap with the connecting portion 65B of the adjacent support node member 61. The overlapping portion abuts against the bottom 62B of the annular portion 42 of the adjacent support node member 61, supporting the bottom 62B from the lower side. In addition, one end side of the support portion 63 in the axial direction S0 is separated from the connecting portion 65B by the protruding amount of the telescopic portion 65A protruding from the connecting portion 65B to the inner side RI of the bend, and a snap-fit ​​portion 63B is formed on the outer side RO of the bend on one end side of the support portion 63 in the cylindrical axis direction. The engagement portion 63B is formed into a concave shape by cutting out the curved outer side RO of one end side of the axial direction S0 of the support portion 63, and is engaged with the telescopic portion 65A. Hereinafter, one end side of the axial direction S0 of the support portion 63 is referred to as "support convex end 63C", and the other end side is referred to as "support other end 63D".

[0066] A guide portion 64 is provided on the inner side of the upper portion of the annular portion 62. The guide portion 64 is configured to be pin-shaped, and its length direction is arranged along the axial direction S. The guide portion 64 extends in a manner overlapping with the annular portion 62 of the adjacent support node member 61 on one side in the axial direction S0, and abuts against the inner side of the upper wall of the adjacent support node member 61, and when the support node members 61 move relative to each other, they also move in abutment with the inner side of the upper wall. That is, the support node member 61 on one side of the adjacent support node members 61 is supported from the lower side by the guide portion 64 of the support node member 61 on the other side.

[0067] The plurality of support node members 61 are continuously arranged in the axial direction S and connected to each other by the telescopic portion 65A to form the frame member 60. Figure 1 and Figure 2 As shown, a fixing portion 67 is provided on one end side of the frame member 60. The fixing portion 67 is configured to block the opening in the cylindrical axis direction of the support node member 61 on one end side. A fixing pin 67A of the fixing portion 67 is inserted into the fixing hole 32C of the root actuator 20, and the base end side of the root actuator 20 is fixed to the frame member 60.

[0068] A top support 68 is provided at the other end of the frame member 60. The top support 68 has a base portion 68A extending from a bottom portion 62B of the support node member 61 disposed at the other end and a base connection portion 68B connected to the telescopic portion 65A of the support node member 61.

[0069] The root actuator 20 is inserted into the annular portion 62 of the frame member 60, and the base end side (seal member 30A side) is fixed to the fixing portion 67 on one end side. The top end side (seal member 30B side) of the root actuator 20 is placed on the base portion 68A of the top end support 68. One end side of the root actuator 20 is set as a free end, and the root actuator 20 can move in the axial direction S in the frame member 60.

[0070] The base end side (sealing member 30AH side) of the finger actuator 40 is attached to the support portion 63 of the frame member 60. A pair of fixing holes 32CH are formed in the sealing member 30AH of the finger actuator 40, and the finger actuator 40 is fixed by using a fixing screw (not shown) through the mounting hole 62C of the bottom 62B and the pair of mounting holes 63A formed in the support portion 63. The top end (sealing member 30BH side) of the finger actuator 40 is set as a free end. The restraining member 28H of the finger actuator 40 is arranged on the curved outer side RO.

[0071] An air supply hose (not shown) is connected to each connection part CH of the five finger actuators 40. When compressed air flows from the connection part CH via the air supply hose, the pressure in the finger actuator 40 increases. Then, the finger actuator 40 is deformed so that the inner side RI of the bending becomes inward due to the increase in the internal pressure.

[0072] Next, the operation of the robot 10 according to the present embodiment will be described.

[0073] When grasping the object OB, the robot 10 is moved near the object OB, and compressed air is supplied through the air supply hose to the root actuator 20. Thus, the root actuator 20 is bent and deformed in accordance with the internal pressure so that the bending inner side RI is turned inward.

[0074] Through this bending deformation, the frame member 60 is subjected to a force on the inner side RI of the bending of each annular portion 62. Figure 6 and Fig. 9 As shown, the hinge member 65 is deformed in such a way that the angles between the adjacent connecting parts 65B become smaller, with the telescopic part 65A as the center. At this time, the telescopic part 65A stretches in a direction of separation between one end and the other end in the circumferential direction by elastic deformation. In addition, the angle between the supporting protrusion 63C and the supporting other end 63D of the adjacent supporting part 63 becomes smaller, and the upper surface of the supporting protrusion 63C supports the bottom 62B of the adjacent supporting part 63 for relative movement. In addition, the guide part 64 abuts against the inner side of the upper wall of the adjacent supporting node member 61 and moves relative to each other. In this way, the frame member 60 bends and deforms following the bending deformation of the root actuator 20.

[0075] The relative positions of the base ends of the five finger actuators 40 change from being arranged on a straight line (axial direction S) to being arranged on a bending line (bending axis SR) by the bending deformation of the frame member 60. In this state, compressed air is supplied to the finger actuators 40 via the air supply hose. As a result, the gripping actuators 40 are bent and deformed in such a way that the bending inner side RI becomes the inner side according to the internal pressure.

[0076] Adjust the pressure of the compressed air supplied via the air supply hose, such as Fig. 9 As shown, the object OB is sandwiched between the distal ends of the plurality of finger actuators 40 , and the object OB can be gripped by the force associated with the bending.

[0077] According to the manipulator 10 of the present embodiment, the relative positions of one ends of the plurality of finger actuators 40 can be easily moved using the base actuator 20. This can improve the performance according to the position, shape, etc. of the object.

[0078] Furthermore, in this embodiment, since the finger actuator 40 is arranged on the support node component 61 and the support node components 61 are connected to each other using the telescopic portion 65A, the support position and the position of the telescopic portion 65A can be offset in the axial direction S, and the root actuator 20 can be operated with better balance.

[0079] In addition, in this embodiment, since the telescopic portion 65A is formed by the leaf spring, the telescopic portion 655A can be simply configured. In addition, by using a resin material, the telescopic portion 65A can be easily manufactured as a part of the support node member 61. In addition, due to the restoring force of the leaf spring, a force is applied to the root actuator 20 in a direction to eliminate the bending, so after the compressed air flows out after the holding action is completed, the root actuator 20 can be smoothly restored to the original straight state.

[0080] Furthermore, in the present embodiment, since the tip of the root actuator 20 is set as a free end, relative movement in the axial direction S is allowed between the root actuator 20 and the frame member 60 when the root actuator 20 is bent and deformed, so that the root actuator 20 can be bent and deformed smoothly.

[0081] Furthermore, in the present embodiment, each support node member 61 of the frame member 60 has a support protrusion 63C of the support portion 63 and a guide portion 64, and when the frame member 60 is bent and deformed, the adjacent support node members 61 are supported to move relative to each other. Thus, the torsion (the state in which the top and base ends are separated to opposite sides relative to the same plane) of the frame member 60 when it is bent and deformed can be suppressed.

[0082] In the present embodiment, an example in which one object OB is grasped by the robot 10 is described as an example. However, the robot 10 can also be suitably used in a case of gathering or moving a plurality of objects OB.

[0083] <Second Embodiment>

[0084] Next, a robot hand 70 according to a second embodiment will be described. In this embodiment, the same reference numerals are used for the same parts as those in the first embodiment, and detailed description thereof will be omitted.

[0085] like Fig.10 and Fig.11 As shown in FIG. 1 , the robot hand 70 of the present embodiment includes a base actuator 20, five finger actuators 40, and a frame member 72. The base actuator 20 and the five finger actuators 40 can use the same members as those of the first embodiment.

[0086] The frame member 72 includes a plurality of support node members 73 (five in the present embodiment), and the support node members 73 are connected in the axial direction S by means of a leaf spring telescopic member 75, so as to constitute the frame member 72 along the root actuator 20. A fixing portion 77 is provided on one end side of the axial direction S of the frame member 72. The frame member 72, including the leaf spring telescopic member 75, is integrally formed of a resin material. The resin material is not particularly limited, and polyamide resin can be suitably used. In addition, as other examples of the case of the resin material, ABS, polyurethane, polyester, polyethylene, etc. can be used. Furthermore, it can also be formed of materials other than resin, such as metal materials, and considering the lightness and strength, an alloy of aluminum and magnesium can be suitably used. Whether it is a resin material or a metal material, it is preferably capable of being integrally formed using a 3D printer or the like.

[0087] The support node member 73 has a through hole 74 through which the root actuator 20 passes. The support node member 73 has a connecting portion 76 formed on the curved outer side RO, a thin wall portion 79 formed on the curved inner side RI, and a mounting portion 78 formed below the through hole 74.

[0088] The connecting portion 76 is provided on the curved outer side RO side of the through hole 74, and is connected to the leaf spring telescopic member 75 at both ends in the axial direction S. The thin-walled portion 79 is shorter in length in the axial direction S than the connecting portion 76, and tapers from the curved outer side RO side toward the curved inner side RI. The leaf spring telescopic member 75 is provided in an arc shape in which the plate surface protrudes toward the curved outer side RO in the initial state, and can be elastically deformed in a manner that the two ends of the arc are separated.

[0089] The base end side (seal member 30AH side) of the finger actuator 40 is attached to the attachment portion 78 of the frame member 72. The tip end (seal member 30BH side) of the finger actuator 40 is set as a free end. The restraining member 28H of the finger actuator 40 is arranged on the curved outer side RO.

[0090] The base end side (sealing member 30A side) of the root actuator 20 is inserted into the through hole 74 and fixed to the fixing portion 77 by a jig 77A. The top end side (sealing member 30B side) of the root actuator 20 is inserted into the through hole 74 of the support node member 73 arranged at the top end side and is set as a free end. The root actuator 20 can move in the axial direction S within the frame member 72.

[0091] Next, the operation of the robot 70 according to the present embodiment will be described.

[0092] When grasping an object to be grasped, the robot 70 is moved to the vicinity of the object to be grasped, and compressed air is supplied through the air supply hose to the root actuator 20. Thereby, the root actuator 20 is bent and deformed in accordance with the internal pressure so that the bending inner side RI is turned inward.

[0093] By this bending deformation, the frame member 72 is acted on the thin wall portion 79, and the leaf spring expansion member 75 is elastically deformed and stretched, so that the support node member 73 moves to a position following the bending. As a result, the frame member 72 is bent and deformed following the bending deformation of the root actuator 20 (see Fig.12 , Fig.13 ).

[0094] The relative positions of the base ends of the five finger actuators 40 change from being arranged on a straight line to being arranged on a curved line by the bending deformation of the frame member 72. In this state, compressed air is supplied to the finger actuators 40 via the air supply hose. As a result, the gripping actuators 40 are bent and deformed in accordance with the internal pressure so that the curved inner side RI becomes the inner side.

[0095] The pressure of the compressed air supplied through the air supply hose is adjusted to sandwich the grasped object between the tip portions of the plurality of finger actuators 40 , and the grasped object can be grasped by the force associated with the bending.

[0096] In the manipulator 70 of the present embodiment, the relative positions of one ends of the plurality of finger actuators 40 can also be easily moved using the base actuator 20. This can improve the gripping performance according to the position, shape, etc. of the gripped object.

[0097] The entirety of Japanese Patent Application No. 2022-144196 filed on September 9, 2022 is incorporated into this specification by reference.

[0098] All documents, invention patent applications, and technical standards described in this specification are incorporated into this specification by reference to the same extent as if each document, invention patent application, and technical standard were specifically and separately described.

Claims

1. A robot, wherein: The robot has: A cylindrical root actuator, one side of which is bent so as to contract in the cylinder axis direction in response to the increase in the internal pressure in the cylinder; a frame member arranged along the cylindrical axis direction of the root actuator and supporting the root actuator, having an expansion and contraction portion that expands and contracts following the bending deformation of the root actuator, and the frame member is bent and deformed following the bending deformation of the root actuator; as well as A plurality of cylindrical finger actuators are installed separately in the extending direction of the root actuator in a manner that the finger actuators extend in a direction intersecting the cylindrical axis direction and have one end fixed to the frame member and the other end as a free end. One side of the cylindrical circumference of the finger actuator is bent and contracted in the cylindrical axis direction according to the increase in internal pressure in the cylinder.

2. The robot according to claim 1, wherein: The frame member has support node members respectively provided at the installation positions of the plurality of finger actuators. The telescopic portion connects the adjacent support node members to each other.

3. The robot according to claim 2, wherein: The telescopic portion is composed of a leaf spring that bends following the bending deformation of the root actuator.

4. The robot according to claim 1, wherein: One end of the root actuator is fixed to the frame member, and the other end is a free end.

5. The robot according to any one of claims 1 to 4, wherein: The frame member is integrally formed.

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