Handheld device

Abstract

The handheld device is designed to perform multiple types of tasks, thereby improving its versatility. [Solution] The hand base 1 is provided with a plurality of finger sections 11-14, 21-24, first finger work sections 81, 83 provided on the finger sections 11-14, 21-24 for performing work, and second finger work sections 82, 84 provided on the finger sections 11-14, 21-24 for performing work and different from the first finger work sections 81, 83. One of the first finger work sections 81, 83 and the second finger work sections 82, 84 can be selected according to the work.

Description

Technical Field

[0001] The present invention relates to a hand device that is attached to a robot arm or the like and performs work.

Background Art

[0002] As a hand device, as disclosed in Patent Document 1, there is one in which a plurality of finger portions are movably attached to a base portion. By operating the plurality of finger portions in a direction approaching each other, an object is grasped by the finger portions. In the hand device of Patent Document 1, grasping an object is the main work.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a hand device, it is desired to enhance the versatility of the hand device by enabling it to perform a plurality of types of work. An object of the present invention is to improve the versatility of a hand device by enabling it to perform a plurality of types of work.

Means for Solving the Problems

[0005] The hand device of the present invention includes a hand base portion, a plurality of finger portions provided on the hand base portion, a first finger working portion provided on the finger portion for performing work, and a second finger working portion provided on the finger portion for performing work and different from the first finger working portion, and one of the first finger working portion and the second finger working portion can be selected according to the work.

[0006] According to the present invention, a first finger work section and a second finger work section, which are different from each other, are provided on the finger. When the first finger work section is selected, the hand device can perform work suitable for the first finger work section. When the second finger work section is selected, the hand device can perform work suitable for the second finger work section. In this case, the work suitable for the first finger work section and the work suitable for the second finger work section are different from each other. As a result, by selecting either the first finger work section or the second finger work section depending on the task to be performed by the hand device, the hand device can perform multiple different types of tasks without difficulty, thereby improving the versatility of the hand device.

[0007] In the present invention, the finger portion has a plurality of first finger portions provided on the hand base and a plurality of second finger portions provided on each of the first finger portions, and the first finger work portion and the second finger work portion are provided on each of the second finger portions, and it is preferable that one of the first finger work portion and the second finger work portion is selected by rotating the second finger portion relative to the first finger portion to change the position of the second finger portion.

[0008] According to the present invention, a first finger portion is provided on the hand base, a second finger portion is provided on the first finger portion, and a first finger work portion and a second finger work portion are provided on the second finger portion. By rotating the second finger portion, the position of the second finger portion is changed, and either the first finger work portion or the second finger work portion is selected. This allows the position of the second finger to be quickly changed by rotation, and the first or second finger working part to be quickly selected, which is advantageous in terms of improving the versatility of the hand device.

[0009] In the present invention, the first finger portion is provided on the hand base so as to be pivotable around a first axis, and the second finger portion is provided on the first finger portion so as to be rotatable around a second axis along the first axis, and it is preferable that the position of the second finger portion is changed by rotating the second finger portion around the second axis.

[0010] According to the present invention, when the first finger portion is provided on the hand base so as to be able to swing around a first axis, the posture of the second finger portion is changed by rotating the second finger portion around a second axis along the first axis. As a result, when the second finger is rotated, it rarely moves laterally outward from the oscillation trajectory of the first finger, and therefore rarely comes into contact with the adjacent first and second fingers.

[0011] In the present invention, the second finger portion is configured to extend from the second axis toward one side and the other side along a direction intersecting the second axis, and it is preferable that the orientation of the second finger portion is set such that, when one of the first finger portion and the second finger portion is selected, the selected one of the first finger portion and the second finger portion is located on the side that extends beyond the end of the first finger portion and moves away from the hand base.

[0012] According to the present invention, the second finger portion extends from the second axis toward one side and the other side along a direction intersecting the second axis. When the first finger working portion is selected, the first finger working portion extends beyond the end of the first finger portion. When the second finger working portion is selected, the second finger working portion extends beyond the end of the first finger portion.

[0013] According to the present invention, the unselected first or second finger work portion faces away from the selected first or second finger work portion and does not extend beyond the end of the first finger portion, thus having little effect on the operation of the selected first or second finger work portion. In other words, the unselected first or second finger work portion is less affected by the operation of the selected first or second finger work portion.

[0014] This is advantageous in terms of improving the versatility of the hand device, as it means that the unselected first or second finger work section has little impact on the work of the selected first or second finger work section, and the unselected first or second finger work section is little affected by the work of the selected first or second finger work section.

[0015] In the present invention, it is preferable that, with one of the first finger working portion and the second finger working portion selected, the finger portions are operated in a direction that brings them closer to each other, thereby grasping an object with the selected one of the first finger working portion and the second finger working portion.

[0016] According to the present invention, when the first finger working portion is selected, the object is grasped by the first finger working portion by operating the finger portions in a direction that brings them closer together. When the second finger working portion is selected, the object is grasped by the second finger working portion by operating the finger portions in a direction that brings them closer together.

[0017] According to the present invention, depending on the shape and size of the object to be grasped, the first finger work portion should be selected if it is suitable for grasping the object. If the object to be grasped is changed and the second finger work portion becomes suitable for grasping the object, the first finger work portion should be changed to the second finger work portion. As a result, the first or second finger working part, which is suitable for gripping the object to be gripped, is selected, allowing the hand device to effortlessly grip multiple types of objects with different shapes and sizes, thereby improving the versatility of the hand device.

[0018] In the present invention, it is preferable that the first finger working portion and the second finger working portion are composed of different materials.

[0019] According to the present invention, for example, the first finger working part may be made of a hard material such as metal, or the second finger working part may be made of a soft material such as rubber. As a result, the finger part can easily cope with various types of operations, which is advantageous in terms of improving the versatility of the hand device.

[0020] In the present invention, it is preferable that the first finger working part and the second finger working part are configured in different shapes from each other.

[0021] According to the present invention, for example, the first finger working part may be configured in a concave shape, the second finger working part may be configured in a convex shape, or may be configured to have a large number of concavities and convexities. As a result, the finger part can easily cope with various types of operations, which is advantageous in terms of improving the versatility of the hand device.

Brief Description of the Drawings

[0022] [Figure 1] It is a side view of the hand device in the first gripping posture of the gripping mode. [Figure 2] In the hand device in the first gripping posture of the gripping mode, it is a cross-sectional view taken from the D-D direction of FIGS. 1, 4, and 5. [Figure 3] In the hand device in the first gripping posture of the gripping mode, it is a cross-sectional view taken from the C-C direction of FIGS. 1, 4, and 5. [Figure 4] In the hand device in the first gripping posture of the gripping mode, it is a cross-sectional view taken from the A-A direction of FIGS. 2 and 3. [Figure 5] In the hand device in the first gripping posture of the gripping mode, it is a cross-sectional view taken from the B-B direction of FIGS. 2 and 3. [Figure 6] It is a cross-sectional view of the first finger part and the second finger part. [Figure 7] It is a cross-sectional view of the first finger part and the second finger part. [Figure 8] It is a side view of the second finger part. [Figure 9] It is a perspective view of the second finger part. [Figure 10] In the hand device in the first gripping posture (second gripping posture) of the gripping mode, it is a side view showing the state of gripping an object. [Figure 11]This is a side view showing the state in which the hand device is gripping an object in the first gripping position (second gripping position) of the gripping mode. [Figure 12] This is a side view showing the state in which the hand device is gripping an object in the first gripping position (second gripping position) of the gripping mode. [Figure 13] These are cross-sectional views of the hand device in the second gripping position of the gripping mode, taken from the D-D direction in Figures 1, 4, and 5. [Figure 14] These are cross-sectional views of the hand device in the second gripping position of the gripping mode, taken from the D-D direction in Figures 1, 4, and 5. [Figure 15] This is a side view of the handheld device in the working position during operation mode. [Figure 16] This is a view of the handheld device in the working posture in working mode, as seen from the E-E direction in Figure 15. [Modes for carrying out the invention]

[0023] (Overall configuration of the handheld device) As shown in Figures 1, 2, and 3, the hand device comprises a hand base 1, four sets of support mechanisms 40, 50, 60, and 70, four sets of finger bases 31, 32, 33, and 34, four sets of first finger parts 11, 12, 13, and 14, four sets of second finger parts 21, 22, 23, and 24, four sets of electric motors 15, 16, 17, and 18, and four sets of electric motors 25, 26, 27, and 28 (see Figures 6 and 7).

[0024] The hand base 1 is attached to a robot arm (not shown) or the like. Four sets of support mechanisms 40, 50, 60, and 70 are provided on the hand base 1 and extend outward from the hand base 1.

[0025] Four sets of finger bases 31-34 are attached to support mechanisms 40, 50, 60, and 70, respectively. Four sets of first finger parts 11-14 are attached to each of the finger bases 31-34, and four sets of second finger parts 21-24 are attached to each of the first finger parts 11-14.

[0026] (Configuration of the hand base 1) As shown in Figures 2 to 4, the hand base 1 has a motor housing 2, circuit boards 3, 6, and 8, a vertical wall 4, and housing sections 5 and 7.

[0027] A disc-shaped substrate 3 is connected to a cylindrical motor housing 2, and a flat vertical wall 4 is connected to the substrate 3. A cylindrical housing 5 is connected to the vertical wall 4, and a flat substrate 6 is connected to housing 5. A cylindrical housing 7 is connected to the substrate 6, and a flat substrate 8 is connected to housing 7 at intervals. Electric motors 9 and 10 are arranged side by side inside the motor housing 2.

[0028] (Configuration of the support mechanism 40 and the finger base 31) As shown in Figures 2, 3, and 4, of the four sets of support mechanisms 40, 50, 60, and 70, support mechanism 40 has drive shafts 41 and 42, interlocking gears 43 and 44, operating arms 45, 46, and 47, a link 48, and a pivot shaft 49.

[0029] The drive shaft 41 is connected to the output shaft (not shown) of the electric motor 9 and extends from the base plate 3 to the housing 5 of the hand base 1, and the drive shaft 41 is rotated by the electric motor 9. The interlocking gear 43 is connected to the portion of the drive shaft 41 that is in the housing 5 of the hand base 1.

[0030] An operating arm 45 is connected to the portion of the drive shaft 41 between the base plate 3 and the housing 5 of the hand base 1, and a link 48 is pivotably attached to the portion of the end of the operating arm 45 that is on the base plate 3 side of the hand base 1. An operating arm 47 is rotatably attached to the drive shaft 41 to the portion of the drive shaft 41 between the operating arm 45 and the base plate 3 of the hand base 1.

[0031] The drive shaft 42 is rotatably mounted to the housing 7 and the base plate 8 of the hand base 1. The interlocking gear 44 is connected to the portion of the drive shaft 42 that is connected to the housing 7 of the hand base 1. The operating arm 46 is connected to the portion of the drive shaft 42 that is connected to the portion of the hand base 1 that is connected to the housing 7 and the base plate 8.

[0032] A pivot shaft 49 is attached to the drive shafts 41 and 42 via needle bearings. The pivot shaft 49 causes the drive shafts 41 and 42 to be concentric, and the drive shafts 41 and 42 can rotate independently of each other.

[0033] A pivot shaft 35 is attached to the operating arms 46 and 47, and a pivot shaft 36 is attached to a link 48. A finger base 31 is attached to pivot shafts 35 and 36, and is attached to a support mechanism 40 via pivot shafts 35 and 36.

[0034] (Configuration of the support mechanism 50 and the finger base 32) As shown in Figures 2, 3, and 4, of the four sets of support mechanisms 40, 50, 60, and 70, support mechanism 50 has drive shafts 51 and 52, interlocking gears 53 and 54, operating arms 55, 56, and 57, a link 58, and a pivot shaft 59.

[0035] The drive shaft 51 is rotatably mounted on the base plate 3 of the hand base 1, extending to the housing 5, and the interlocking gear 53 is connected to the portion of the drive shaft 51 that is in the housing 5 of the hand base 1. The interlocking gear 53 and the interlocking gear 43 of the support mechanism 40 are engaged.

[0036] An operating arm 55 is connected to the portion of the drive shaft 51 between the base plate 3 and the housing portion 5 of the hand base 1, and a link 58 is pivotably attached to the portion of the end of the operating arm 55 that is on the side of the housing portion 5 of the hand base 1. An operating arm 57 is rotatably attached to the drive shaft 51 to the portion of the drive shaft 51 between the operating arm 55 and the base plate 3 of the hand base 1.

[0037] The drive shaft 52 is rotatably mounted to the housing 7 and the base plate 8 of the hand base 1. The interlocking gear 54 is connected to the portion of the drive shaft 52 that is in the housing 7 of the hand base 1, and the interlocking gear 54 is engaged with the interlocking gear 44 of the support mechanism 40. The operating arm 56 is connected to the portion of the drive shaft 52 that is between the housing 7 and the base plate 8 of the hand base 1.

[0038] A pivot shaft 59 is attached to the drive shafts 51 and 52 via needle bearings. The pivot shaft 59 causes the drive shafts 51 and 52 to be concentric, and the drive shafts 51 and 52 can rotate independently of each other.

[0039] A pivot shaft 35 is attached to the operating arms 56 and 57, and a pivot shaft 36 is attached to a link 58. A finger base 32 is attached to pivot shafts 35 and 36, and is attached to a support mechanism 50 via pivot shafts 35 and 36.

[0040] (Configuration of the support mechanism 60 and the finger base 33) As shown in Figures 2, 3, and 5, of the four sets of support mechanisms 40, 50, 60, and 70, support mechanism 60 includes drive shafts 61, 62, and 69, interlocking gears 63 and 64, operating arms 65, 66, and 67, and a link 68.

[0041] The drive shaft 69 is connected to the output shaft (not shown) of the electric motor 10 and extends from the base plate 3 to the housing 5 of the hand base 1. The drive shaft 62 is rotatably mounted to the housing 7 and base plate 8 of the hand base 1 and is connected to the drive shaft 62 and the drive shaft 69, and the drive shafts 62 and 69 are rotated by the electric motor 10.

[0042] The interlocking gear 64 is connected to the housing portion 7 of the hand base 1 on the drive shaft 62, and the interlocking gear 64 and the interlocking gear 54 of the support mechanism 50 are engaged. The operating arm 66 is connected to the portion of the drive shaft 62 between the housing portion 7 of the hand base 1 and the base plate 8.

[0043] A cylindrical drive shaft 61 is provided extending from the vicinity of the base plate 3 of the hand base 1 to the housing 5, and is rotatably attached to a drive shaft 69. The drive shafts 61 and 69 can rotate independently of each other. An interlocking gear 63 is connected to the portion of the hand base 1 housing 5 on the drive shaft 61, and the interlocking gear 53 of the support mechanism 50 meshes with the interlocking gear 53 of the support mechanism 50.

[0044] An operating arm 65 is connected to the portion of the drive shaft 61 between the base plate 3 and the housing 5 of the hand base 1, and a link 68 is pivotably attached to the portion of the end of the operating arm 65 that is on the base plate 3 side of the hand base 1. An operating arm 67 is rotatably attached to the drive shaft 69 to the portion of the drive shaft 69 between the operating arm 65 and the base plate 3 of the hand base 1.

[0045] A pivot shaft 35 is attached to the operating arms 66 and 67, and a pivot shaft 36 is attached to a link 68. A finger base 33 is attached to pivot shafts 35 and 36, and is attached to the support mechanism 60 via pivot shafts 35 and 36.

[0046] (Configuration of the support mechanism 70 and the finger base 34) As shown in Figures 2, 3, and 5, of the four sets of support mechanisms 40, 50, 60, and 70, support mechanism 70 includes drive shafts 71 and 72, interlocking gears 73 and 74, operating arms 75, 76, and 77, a link 78, and a pivot shaft 79.

[0047] The drive shaft 71 is rotatably mounted on the hand base 1 from the base plate 3 to the housing 5, and the interlocking gear 73 is connected to the portion of the drive shaft 71 that is in the housing 5 of the hand base 1. The interlocking gear 73 meshes with the interlocking gear 63 of the support mechanism 60, and the interlocking gear 73 meshes with the interlocking gear 43 of the support mechanism 40.

[0048] An operating arm 75 is connected to the portion of the drive shaft 71 between the base plate 3 and the housing portion 5 of the hand base 1, and a link 78 is pivotably attached to the portion of the end of the operating arm 75 that is on the side of the housing portion 5 of the hand base 1. An operating arm 77 is rotatably attached to the drive shaft 71 to the portion of the drive shaft 71 between the operating arm 75 and the base plate 3 of the hand base 1.

[0049] The drive shaft 72 is rotatably mounted to the housing 7 and base plate 8 of the hand base 1, and the interlocking gear 74 is connected to the portion of the drive shaft 72 that is in the housing 7 of the hand base 1. The interlocking gear 74 meshes with the interlocking gear 64 of the support mechanism 60, and the interlocking gear 74 meshes with the interlocking gear 44 of the support mechanism 40. The operating arm 76 is connected to the portion of the drive shaft 72 that is between the housing 7 and base plate 8 of the hand base 1.

[0050] A pivot shaft 79 is attached to the drive shafts 71 and 72 via needle bearings. The pivot shaft 79 causes the drive shafts 71 and 72 to be concentric, and the drive shafts 71 and 72 can rotate independently of each other.

[0051] A pivot shaft 35 is attached to the operating arms 76 and 77, and a pivot shaft 36 is attached to the link 78. The finger base 34 is attached to the pivot shafts 35 and 36, and is attached to the support mechanism 70 via the pivot shafts 35 and 36.

[0052] (Operating status of support mechanisms 40, 50, 60, and 70 powered by electric motor 9) As shown in Figures 2 to 5, the interlocking gears 43, 53, 63, and 73 are meshed with each other in the support mechanisms 40, 50, 60, and 70.

[0053] When the electric motor 9 rotates the drive shaft 41 of the support mechanism 40, thereby operating the operating arm 45, the operation of the electric motor 9 is transmitted from the interlocking gear 43 of the support mechanism 40 to the interlocking gears 53, 63, and 73 of the support mechanisms 50, 60, and 70, thereby operating the drive shafts 51, 61, and 71 and the operating arms 55, 65, and 75 of the support mechanisms 50, 60, and 70. Consequently, the links 48, 58, 68, and 78 of the support mechanisms 40, 50, 60, and 70 are operated.

[0054] With the above configuration, when the operating arm 45 and link 48 of the support mechanism 40 are operated counterclockwise in Figure 3, the operating arm 55 and link 58 of the support mechanism 50 are operated clockwise in Figure 3, the operating arm 65 and link 68 of the support mechanism 60 are operated counterclockwise in Figure 3, and the operating arm 75 and link 78 of the support mechanism 70 are operated clockwise in Figure 3.

[0055] When the operating arm 45 and link 48 of the support mechanism 40 are operated clockwise in Figure 3, the operating arm 55 and link 58 of the support mechanism 50 are operated counterclockwise in Figure 3, the operating arm 65 and link 68 of the support mechanism 60 are operated clockwise in Figure 3, and the operating arm 75 and link 78 of the support mechanism 70 are operated counterclockwise in Figure 3.

[0056] (Operating status of support mechanisms 40, 50, 60, and 70 provided by the electric motor 10) As shown in Figures 2 to 5, the interlocking gears 44, 54, 64, and 74 mesh with each other in the support mechanisms 40, 50, 60, and 70.

[0057] When the electric motor 10 rotates the drive shafts 62 and 69 of the support mechanism 40 and operates the operating arm 66, the operation of the electric motor 10 is transmitted from the interlocking gear 64 of the support mechanism 60 to the interlocking gears 44, 54, and 74 of the support mechanisms 40, 50, and 70, thereby operating the drive shafts 42, 52, and 72 and the operating arms 46, 56, and 76 of the support mechanisms 40, 50, and 70. Consequently, the operating arms 47, 57, 67, and 77 of the support mechanisms 40, 50, 60, and 70 are also operated.

[0058] With the above configuration, when the operating arms 66 and 67 of the support mechanism 60 are operated clockwise in Figure 2, the operating arms 76 and 77 of the support mechanism 70 are operated counterclockwise in Figure 2, the operating arms 46 and 47 of the support mechanism 40 are operated clockwise in Figure 2, and the operating arms 56 and 57 of the support mechanism 50 are operated counterclockwise in Figure 2.

[0059] When the operating arms 66 and 67 of the support mechanism 60 are operated counterclockwise in Figure 2, the operating arms 76 and 77 of the support mechanism 70 are operated clockwise in Figure 2, the operating arms 46 and 47 of the support mechanism 40 are operated counterclockwise in Figure 2, and the operating arms 56 and 57 of the support mechanism 50 are operated clockwise in Figure 2.

[0060] (Composition of the first finger section 11-14) - 1 As shown in Figures 1, 2, and 3, four sets of electric motors 15-18 are attached to each of the finger bases 31-34.

[0061] As shown in Figures 6 and 7, the first finger portions 11-14 each have a base portion 19 and an arm portion 20. The base portion 19 is attached to the respective drive shafts (not shown) of the electric motors 15-18. The arm portion 20 is provided at the end of the base portion 19 and extends away from the electric motors 15-18. The electric motors 15-18 cause the first finger portions 11-14 to swing around the axis P11, P12, P13, P14 (see Figures 1, 2, and 3).

[0062] The first fingers 11-14 are attached to the finger bases 31-34 via electric motors 15-18 so as to be able to swing around the axis P11-P14. The first fingers 11-14 are attached to the hand base 1 via the finger bases 31-34 and support mechanisms 40, 50, 60, 70 so as to be able to swing around the axis P11-P14.

[0063] (Composition of the first finger section 11-14) - 2 As shown in Figures 6 and 7, four sets of electric motors 25-28 are provided inside the base 19 of each of the first finger portions 11-14, and a drive pulley 29 is attached to each of the drive shafts (not shown) of the electric motors 15-18.

[0064] The drive shaft 30 is attached to each end of the arm portion 20 of the first finger portions 11 to 14 so as to be rotatable around axis centers P21, P22, P23, and P24 which are parallel to axis centers P11 to P14. The second finger portions 21 to 24, which will be described later, are attached to each of the drive shafts 30 of the first finger portions 11 to 14.

[0065] A drive pulley 30a is attached to the drive shaft 30 inside each of the arm portions 20 of the first finger portions 11 to 14. A tension pulley 37 is provided between the drive pulleys 29 of the electric motors 25 to 28 and the drive pulleys 30a of the drive shaft 30.

[0066] The transmission belt 38 is mounted across the drive pulleys 29 of the electric motors 25-28, the drive pulley 30a of the drive shaft 30, and the tension pulley 37. The transmission belt 38 is made of an elastic material such as synthetic rubber and is configured as a toothed belt (coated belt).

[0067] The operation of the electric motors 25-28 is transmitted to the drive shaft 30 via the transmission belt 38, causing the second finger portions 21-24 to rotate around the axis P21-P24 by the drive shaft 30. This changes the orientation of the second finger portions 21-24 relative to the first finger portions 11-14.

[0068] (Composition of the second finger section, parts 21-24) As shown in Figures 6 and 7, the longitudinal central portions of the second finger sections 21 to 24 are attached to the drive shaft 30. The second finger sections 21 to 24 extend from the drive shaft 30 (axis P21 to P24) toward one side and the other side along a direction perpendicular (intersecting) to the drive shaft 30 (axis P21 to P24).

[0069] As shown in Figures 8 and 9, the second finger portions 21-24 have four sets of gripping portions 81, 82, 83, and 84 and a working portion 85. The concave gripping portion 81 and the concave gripping portion 83 are provided on opposite sides of one side of the second finger portions 21-24. The flat gripping portion 82 and the concave gripping portion 84 are provided on opposite sides of the other side of the second finger portions 21-24.

[0070] On one side of the second finger portions 21-24, the flat lateral surface between the gripping portion 81 and the gripping portion 83 is the working portion 85. A soft material 80 made of rubber or similar material is attached to the gripping portion 82, and is attached to the flat lateral surface between the gripping portion 82 and the gripping portion 84 on the other side of the second finger portions 21-24.

[0071] The state shown in Figures 6, 7, and 10 is the first state in which the second finger portions 21-24 are rotated by electric motors 25-28, and gripping portions 81 are provided at the ends of the second finger portions 21-24.

[0072] In the first state, the posture of the second fingers 21-24 is set such that the gripping portion 81 of the second fingers 21-24 extends beyond the end of the arm portion 20 of the first fingers 11-14 and is positioned on the side away from the hand base 1 and finger bases 31-34.

[0073] When the second finger portions 21-24 are rotated 180 degrees by electric motors 25-28 from the states shown in Figures 6, 7, and 10, as shown in Figure 12, a second state is selected in which gripping portions 82 are provided at the ends of the second finger portions 21-24.

[0074] In the second state, the posture of the second fingers 21-24 is set such that the gripping portion 82 of the second fingers 21-24 extends beyond the end of the arm portion 20 of the first fingers 11-14 and is positioned on the side away from the hand base 1 and finger bases 31-34.

[0075] As shown in Figures 6 and 7, the second finger portions 21-24 can be detached from the drive shaft 30, reversed, and reattached to the drive shaft 30. In this state, the second finger portions 21-24 are rotated by electric motors 25-28 to select a third state in which gripping portions 83 are provided at the ends of the second finger portions 21-24, and a fourth state in which gripping portions 84 are provided at the ends of the second finger portions 21-24.

[0076] The states shown in Figures 10 and 12 represent a predetermined posture A1 in which the first finger portions 11-14 and the second finger portions 21-24 are aligned in a straight line, with the posture of the second finger portions 21-24 set accordingly. By slightly operating the electric motors 25-28, the posture of the second finger portions 21-24 can be changed from the predetermined posture A1 to a position slightly closer to the object M. The posture of the second finger portions 21-24 can also be changed from the predetermined posture A1 to a position slightly further away from the object M.

[0077] (First gripping posture in the gripping mode of the first fingers 11-14 and the second fingers 21-24) The states shown in Figures 1, 2, and 3 represent the gripping mode in which the hand device grips an object M, with the first finger portions 11-14 and the second finger portions 21-24 set to the first gripping position. The support mechanisms 40, 50, 60, and 70 are operated by electric motors 9 and 10 as described below to set the first gripping position.

[0078] As shown in Figures 2 to 4, the electric motor 9 operates the operating arm 45 and link 48 of the support mechanism 40 in the clockwise direction in Figure 3, the operating arm 55 and link 58 of the support mechanism 50 in the counterclockwise direction in Figure 3, the operating arm 65 and link 68 of the support mechanism 60 in the clockwise direction in Figure 3, and the operating arm 75 and link 78 of the support mechanism 70 in the counterclockwise direction in Figure 3.

[0079] The electric motor 10 operates the operating arms 66 and 67 of the support mechanism 60 in a clockwise direction in Figure 2, the operating arms 76 and 77 of the support mechanism 70 in a counterclockwise direction in Figure 2, the operating arms 46 and 47 of the support mechanism 40 in a clockwise direction in Figure 2, and the operating arms 56 and 57 of the support mechanism 50 in a counterclockwise direction in Figure 2.

[0080] As shown in Figures 2 and 3, the positions of the finger bases 31-34 are set by the operations described above. When viewed from the longitudinal direction of the first finger portions 11-14 and the second finger portions 21-24, the operating arm 45 and link 48 of the support mechanism 40 and the operating arm 75 and link 78 of the support mechanism 70 overlap in an intersecting manner. The operating arm 55 and link 58 of the support mechanism 50 and the operating arm 65 and link 68 of the support mechanism 60 overlap in an intersecting manner.

[0081] The operating arms 46, 47 and link 48 of the support mechanism 40, the operating arms 56, 57 and link 58 of the support mechanism 50, the operating arms 66, 67 and link 68 of the support mechanism 60, and the operating arms 76, 77 and link 78 of the support mechanism 70 are positioned to extend radially outward from the hand base 1, thereby setting the first gripping position.

[0082] In the first gripping position, when the gripping portions 81 of the second finger portions 21-24 are selected, the first finger portion 11 and the second finger portions 24-24 (gripping portions 81) face the center of the hand base 1. The first finger portion 11 and the second finger portion 21 (gripping portions 81) face the first finger portion 13 and the second finger portion 23 (gripping portions 81). The first finger portion 12 and the second finger portion 22 (gripping portions 81) face the first finger portion 14 and the second finger portion 24 (gripping portions 81).

[0083] As will be described later, in the first gripping position, when the first finger portions 11-14 are operated by electric motors 15-18 in a direction that brings them closer to each other around the axis P11-P14, each of the first finger portions 11-14 and the second finger portions 21-24 are operated toward the center of the hand base 1, and the object M is gripped by the gripping portions 81-84 of the second finger portions 21-24.

[0084] (Second gripping posture in the gripping mode of the first fingers 11-14 and the second fingers 21-24) The state shown in Figure 13 is the gripping mode in which the hand device grips an object M, with the first fingers 11-14 and the second fingers 21-24 set to the second gripping position. The support mechanisms 40, 50, 60, and 70 are operated by electric motors 9 and 10 as described below to set the second gripping position.

[0085] As shown in Figures 2 to 4, the electric motor 9 operates the operating arm 45 and link 48 of the support mechanism 40 in the counterclockwise direction in Figure 3, the operating arm 55 and link 58 of the support mechanism 50 in the clockwise direction in Figure 3, the operating arm 65 and link 68 of the support mechanism 60 in the counterclockwise direction in Figure 3, and the operating arm 75 and link 78 of the support mechanism 70 in the clockwise direction in Figure 3.

[0086] The electric motor 10 operates the operating arms 66 and 67 of the support mechanism 60 in a counterclockwise direction in Figure 2, the operating arms 76 and 77 of the support mechanism 70 in a clockwise direction in Figure 2, the operating arms 46 and 47 of the support mechanism 40 in a counterclockwise direction in Figure 2, and the operating arms 56 and 57 of the support mechanism 50 in a clockwise direction in Figure 2.

[0087] As shown in Figure 13, the positions of the finger bases 31-34 are set by the aforementioned operation. Viewed from the longitudinal direction of the first finger portions 11-14 and the second finger portions 21-24, the operating arms 45 and 55 of the support mechanisms 40 and 50 are aligned in a straight line, facing in opposite directions. The operating arms 65 and 75 of the support mechanisms 60 and 70 are aligned in a straight line, facing in opposite directions.

[0088] The second gripping posture is set when the first finger portion 11 and the second finger portion 21 face each other, and the first finger portion 14 and the second finger portion 24 face each other, and the first finger portion 12 and the second finger portion 22 face each other, and the first finger portion 13 and the second finger portion 23 face each other.

[0089] As will be described later, in the second gripping position, when the first finger portions 11-14 are operated by electric motors 15-18 in a direction that brings them closer to each other around the axis P11-P14, the opposing first finger portions 11 and 21 and the first finger portions 14 and 24 move closer to each other, and the opposing first finger portions 12 and 22 and the first finger portions 13 and 23 move closer to each other, and the object M is gripped by the gripping portions 81-84 of the second finger portions 21-24.

[0090] (In the second gripping position, the spacing W between adjacent first fingers 11-14 and second fingers 21-24 is changed.) In the second gripping position shown in Figure 13, the operating arms 47, 57, 67, and 77 of the support mechanisms 40, 50, 60, and 70 are in contact with the vertical wall portion 4 of the hand base 1, and the distance W between adjacent second finger portions 21, 24 and second finger portions 22, 23 is at its narrowest.

[0091] With the electric motor 9 stopped (the operating arms 45, 55, 65, and 75 of the support mechanisms 40, 50, 60, and 70 stopped in the positions shown in Figure 13), as shown in Figures 13 to 14, when the electric motor 10 (see Figure 5) operates the operating arms 66 and 67 of the support mechanism 60 in the clockwise direction in Figure 14, the link 68 of the support mechanism 60 is operated in the clockwise direction in Figure 14.

[0092] Consequently, the operating arms 76, 77 and link 78 of the support mechanism 70 are operated in the counterclockwise direction as shown in Figure 14. The operating arms 46, 47 and link 48 of the support mechanism 40 are operated in the clockwise direction as shown in Figure 14. The operating arms 56, 57 and link 58 of the support mechanism 50 are operated in the counterclockwise direction as shown in Figure 14. The adjacent second finger portions 21, 24 and second finger portions 22, 23 move in parallel in a direction away from each other, and the gap W increases.

[0093] As a result, when the electric motor 9 is stopped (when the operating arms 45, 55, 65, 75 of the support mechanisms 40, 50, 60, 70 are stopped in the positions shown in Figures 13 and 14), the electric motor 10 (see Figure 5) operates the support mechanism 60, thereby changing the distance W between adjacent second finger parts 21, 24 and second finger parts 22, 23.

[0094] When moving from the second gripping position shown in Figures 13 and 14 to the first gripping position shown in Figures 2 and 3, as shown in Figure 13, the electric motor 10 (see Figure 5) operates the gap W to its narrowest state, and then, as shown in Figures 2 and 3, the electric motors 9 and 10 (see Figures 4 and 5) operate the gripping position from Figure 13 to the first gripping position.

[0095] (The gripping state of object M in gripping mode) The state in which the hand device grips object M in the gripping modes of the first gripping posture and the second gripping posture shown in Figures 2, 3, 13, and 14 will be described below.

[0096] The state shown in Figure 10 is the first state in which the second finger portions 21-24 are set to a predetermined position A1 and gripping portions 81 are provided at the ends of the second finger portions 21-24. From the state shown in Figure 10, when the first finger portions 11-14 and the second finger portions 21-24 are operated toward the object M by the electric motors 15-18, the gripping portions 81 of the second finger portions 21-24 come into contact with the object M, as shown in Figure 11. The impact when the gripping portions 81 of the second finger portions 21-24 come into contact with the object M is mitigated by the slight stretching of the transmission belt 38 (see Figures 6 and 7).

[0097] After the gripping portion 81 of the second finger portions 21-24 comes into contact with the object M, the first finger portions 11-14 are moved toward the object M, while the second finger portions 21-24 remain in the position where the gripping portion 81 made contact with the object M, the first finger portions 11-14 are moved toward the object M.

[0098] In this case, with the electric motors 25-26 shown in Figures 6 and 7 stopped, the transmission belt 38 extends, allowing the first finger portions 11-14 to move toward the object M, as shown in Figure 11. The biasing force caused by the extension of the transmission belt 38 presses the gripping portions 81 of the second finger portions 21-24 against the object M, and the object M is gripped by the gripping portions 81 of the second finger portions 21-24.

[0099] As shown in Figure 11, when an object M is grasped by the gripping portions 81 of the second finger portions 21-24 and the operation of the first finger portions 11-14 toward the object M is stopped, the second finger portions 21-24 are operated by the electric motors 25-28 (see Figures 6 and 7) to move the gripping portions 81 of the second finger portions 21-24 slightly away from the object M (to the side where the transmission belt 38 (see Figures 6 and 7) loosens slightly). This weakens the biasing force caused by the stretching of the transmission belt 38, and prevents the gripping portions 81 of the second finger portions 21-24 from being strongly pressed against the object M.

[0100] As shown in Figure 10, for example, when grasping a small object M, the electric motors 25-28 (see Figures 6 and 7) can be used to change the position of the second fingers 21-24 from a predetermined position A1 to a position slightly closer to the object M. For example, when grasping a large object M, the electric motors 25-28 can be used to change the position of the second fingers 21-24 from a predetermined position A1 to a position slightly further away from the object M.

[0101] When gripping another object M, it is preferable to select a second state in which gripping portions 82 are provided at the ends of the second finger portions 21-24 by electric motors 25-28 (see Figures 6 and 7), as shown in Figure 12.

[0102] A third state is selected in which gripping portions 83 are provided at the ends of the second finger portions 21-24 by removing the second finger portions 21-24 from the drive shaft 30, reversing them, and attaching them to the drive shaft 30, or a fourth state is selected in which gripping portions 84 are provided at the ends of the second finger portions 21-24. In the aforementioned second, third, and fourth states, as shown in Figure 11, the same conditions as described above occur when gripping the object M.

[0103] (Working modes for the first finger section 11-14 and the second finger section 21-24) The states shown in Figures 15 and 16 represent the hand device being switched to work mode, with the first finger sections 11-14 and the second finger sections 21-24 set to the working position. The states shown in Figures 15 and 16 also represent the fifth state, in which a working section 85 is provided at the ends of the second finger sections 21-24.

[0104] As shown in Figure 13, the first finger portions 11-14 and the second finger portions 21-24 are set to the narrowest distance W in the second gripping posture of the gripping mode, and the gripping portion 81 of the second finger portions 21-24 is selected. In this state, the first finger portions 11-14 and the second finger portions 21-24 are operated by electric motors 15-18, 25-28 (see Figures 6 and 7) as described below to set the working posture (fifth state).

[0105] As shown in Figures 15 and 16, the second finger portion 22 is operated clockwise in Figure 15 by an electric motor 26 (see Figures 6 and 7), and the second finger portion 23 is operated counterclockwise in Figure 15 by an electric motor 27 (see Figures 6 and 7), so that the working portions 85 of the second finger portions 22 and 23 are aligned with each other.

[0106] When the first fingers 12 and 13 are operated by electric motors 16 and 17 to move toward each other, and the gripping portions 81 of the second fingers 22 and 23 face each other, and the gripping portions 84 of the second fingers 22 and 23 face each other, and the second fingers 22 and 23 are in contact with each other in a parallel position, the first fingers 12 and 13 and the second fingers 22 and 23 stop.

[0107] The second finger portion 21 is operated clockwise in Figure 15 by the electric motor 25, the second finger portion 24 is operated counterclockwise in Figure 15 by the electric motor 28, and the first finger portions 12 and 14 are operated in a direction that brings them closer together by the electric motors 15 and 18.

[0108] When the gripping portion 81 of the second fingers 21 and 24 approaches the gripping portion 83 of the second fingers 22 and 23, and the gripping portion 84 of the second fingers 21 and 24 approaches the gripping portion 82 of the second fingers 22 and 23, the second fingers 21 and 22 become parallel to each other, and the second fingers 23 and 24 become parallel to each other, the first fingers 11 and 14 and the second fingers 21 and 24 come to a stop. Through the above operations, the first finger portions 11-14 and the second finger portions 21-24 are set to a working position (fifth state) in which the working portions 85 of the second finger portions 21-24 are aligned close to each other.

[0109] The entire hand device is moved by the robotic arm, allowing the working parts 85 of the second fingers 21-24 to perform tasks such as pushing soil and stones from the ground to level the ground, or pushing and moving luggage placed on the floor. When the hand device is operated to the right in Figure 16, the concave working parts 85 of the second fingers 21-24 are activated. When the hand device is operated to the left in Figure 16, the convex working parts 85 of the second fingers 21-24 are activated.

[0110] (First alternative embodiment of the invention) The second finger sections 21-24, electric motors 25-28, and transmission belt 38 may be eliminated, and the gripping sections 81-84 and working section 85 may be provided on the first finger sections 11-14.

[0111] (Second alternative embodiment of the invention) The gripping portion 81 may be configured in a concave shape, and the gripping portion 82 may be configured in a convex shape. The gripping portion 83 may be configured as a concave or convex surface with numerous small bumps and grooves, and the gripping portion 84 may be configured as having a small number of protrusions, such as two or three.

[0112] Not all gripping parts 81 to 84 have to be configured with different shapes from each other. For example, if gripping parts 81 and 83 are configured to have the same shape, and gripping parts 82 and 84 are configured to have the same shape, then it is assumed that gripping parts 81, 83 and gripping parts 82, 84 are configured to have different shapes from each other.

[0113] In this case, the third state, in which the gripping portion 83 is provided at the ends of the second finger portions 21-24, is equivalent to the first state, which is equivalent to the first state, in which the gripping portion 81 is provided at the ends of the second finger portions 21-24. The fourth state, in which the gripping portion 84 is provided at the ends of the second finger portions 21-24, is equivalent to the second state, which is equivalent to the second state, in which the gripping portion 82 is provided at the ends of the second finger portions 21-24. The fifth state, in which the working portion 85 is provided at the ends of the second finger portions 21-24, can also be considered as the second state. This results in the existence of multiple first states and multiple second states.

[0114] (Third alternative form of the invention) Instead of the flat, soft material 80 of the gripping portion 82, a rubber suction cup-shaped member may be provided on the gripping portion 82. All gripping portions 81 to 84 may be made of different materials.

[0115] Not all gripping parts 81 to 84 are made of different materials. For example, if gripping portion 81 and gripping portion 83 are made of the same material, and gripping portion 82 and gripping portion 84 are made of the same material, then it is assumed that gripping portions 81, 83 and gripping portions 82, 84 are made of different materials.

[0116] In this case, the third state, in which the gripping portion 83 is provided at the ends of the second finger portions 21-24, is equivalent to the first state, which is equivalent to the first state, in which the gripping portion 81 is provided at the ends of the second finger portions 21-24. The fourth state, in which the gripping portion 84 is provided at the ends of the second finger portions 21-24, is equivalent to the second state, which is equivalent to the second state, in which the gripping portion 82 is provided at the ends of the second finger portions 21-24. The fifth state, in which the working portion 85 is provided at the ends of the second finger portions 21-24, can also be considered as the second state. This results in the existence of multiple first states and multiple second states.

[0117] (Fourth alternative embodiment of the invention) For example, when an object M is grasped with the gripping portion 81 of the second finger portions 21-24 selected, it is not the case that only the gripping portion 81 of the second finger portions 21-24 contacts the object M, but rather that both the gripping portion 81 and the gripping portion 84 of the second finger portions 21-24 contact the object M. In this case, both gripping portions 81 and 84 of the second finger portions 21-24 are selected.

[0118] (Fifth alternative embodiment of the invention) Rather than selecting the same first to fifth states for all second finger parts 21 to 24, it is also possible for different first to fifth states to be selected for each second finger part 21 to 24 depending on the task. In this case, for example, it is assumed that the first state is selected in the second finger parts 21 and 23, and the second state is selected in the second finger parts 22 and 24.

[0119] (Sixth alternative embodiment of the invention) The second finger portions 21-24 may be attached to the first finger portions 11-14 so as to be rotatable around axis P21-P24 which is perpendicular to axis P11-14.

[0120] In the above-described configuration, the second finger portions 21-24 may be configured in an X shape, and two sets of gripping portions 81 extending from the axis P21-P24 to one side and two sets of gripping portions 82 extending from the axis P21-P24 to the opposite side may be provided on the second finger portions 21-24.

[0121] In the configuration described above, the second finger portions 21-24 may be arranged in a cross shape, and four sets of gripping portions 81-84 may extend from the axis P21-P24. With this configuration, by rotating the second finger portions 21-24 around the axis P21-P24, one set of gripping portions 81-84 is selected from the four sets of gripping portions 81-84, and the first to fourth states are selected.

[0122] (Correspondence between parts) - 1 The gripping sections 81 and 83 correspond to the first finger working sections of the second finger sections 21 to 24. The gripping sections 82 and 84 and the working section 85 correspond to the second finger working sections of the second finger sections 21 to 24. Axis centers P11, P12, P13, and P14 correspond to the first axis. Axis centers P21, P22, P23, and P24 correspond to the second axis.

[0123] (Correspondence between parts) - 2 The device comprises a hand base 1 and a plurality of finger parts (first finger parts 11-14, second finger parts 21-24) provided on the hand base 1. The fingers (first finger sections 11-14, second finger sections 21-24) are equipped with first finger work sections (gripping sections 81, 83) for performing tasks. The fingers (first finger parts 11-14, second finger parts 21-24) are provided for performing work, and a second finger work section (gripping parts 82, 84, work section 85) is provided which is different from the first finger work section (gripping parts 81, 83). Either the first finger work section (gripping sections 81, 83) or the second finger work section (gripping sections 82, 84, work section 85) can be selected according to the task.

[0124] (Correspondence between parts) - 3 The finger portion (first finger portions 11-14, second finger portions 21-24) has a plurality of first finger portions 11-14 provided on the hand base 1, and a plurality of second finger portions 21-24 provided on each of the first finger portions 11-14. A first finger working section (gripping section 81, 83) and a second finger working section (gripping section 82, 84, working section 85) are provided on each of the second finger sections 21 to 24. The second finger portions 21-24 are rotated relative to the first finger portions 11-14, changing the orientation of the second finger portions 21-24, thereby selecting one of the first finger working portion (gripping portions 81, 83) or the second finger working portion (gripping portions 82, 84, working portion 85).

[0125] (Correspondence between parts) - 4 The first finger portions 11-14 are mounted on the hand base 1 so as to be able to swing around the first axis (axis P11-P14). The second finger portions 21-24 are provided on the first finger portions 11-14 so as to be rotatable around the second axis (axis P21-P24) which is aligned with the first axis (axis P11-P14). The orientation of the second fingers 21-24 is changed by rotating them around the second axis (axis P21-P24).

[0126] (Correspondence between parts) - 5 The second finger portions 21-24 are configured to extend from the second axis (axis P21-P24) toward one side and the other side in a direction intersecting the second axis (axis P21-P24). With one of the first finger work section (gripping sections 81, 83) and the second finger work section (gripping sections 82, 84, work section 85) selected, the posture of the second finger sections 21-24 is set such that the selected one of the first finger work section (gripping sections 81, 83) and the second finger work section (gripping sections 82, 84, work section 85) is located on the side that extends beyond the ends of the first finger sections 11-14 and moves away from the hand base 1.

[0127] (Relationship between parts) - 6 With one of the first finger working parts (gripping parts 81, 83) and the second finger working parts (gripping parts 82, 84, working part 85) selected, the finger parts (first finger parts 11-14, second finger parts 21-24) are operated in a direction that brings them closer to each other, thereby gripping the object M with the selected one of the first finger working parts (gripping parts 81, 83) and the second finger working parts (gripping parts 82, 84, working part 85).

[0128] The first finger work section (gripping sections 81, 83) and the second finger work section (gripping sections 82, 84, work section 85) are composed of different materials. The first finger work section (gripping sections 81, 83) and the second finger work section (gripping sections 82, 84, work section 85) are configured with different shapes from each other. [Industrial applicability]

[0129] This invention can be applied to handheld devices. [Explanation of Symbols]

[0130] 1. Hand base 11~14 1st finger part (finger part) 21~24 2nd finger part (finger part) 81 Gripping part (first finger working part) 82 Gripping part (second finger working part) 83 Gripping part (first finger working part) 84 Gripping part (second finger working part) 85 Working part (2nd finger working part) M object P11~P14 Axis center (1st axis center) P21~P24 Axis core (2nd axis core)

Claims

1. Hand base and, Multiple finger portions provided on the base of the hand, The first finger work section, which is provided on the finger, is for performing work. The aforementioned finger portion is provided with a second finger work portion, which is used for performing work and is different from the first finger work portion. A hand device that allows the user to select either the first finger work section or the second finger work section according to the task.

2. The aforementioned finger portion has a plurality of first finger portions provided on the hand base and a plurality of second finger portions provided on each of the first finger portions. The first finger work section and the second finger work section are provided on each of the second finger sections, The hand device according to claim 1, wherein the second finger portion is rotated relative to the first finger portion, thereby changing the posture of the second finger portion, and thereby selecting one of the first finger working portion and the second finger working portion.

3. The first finger portion is provided on the hand base so as to be able to swing around the first axis, The second finger portion is provided on the first finger portion so as to be rotatable around the second axis along the first axis, The hand device according to claim 2, wherein the posture of the second finger portion is changed by rotating the second finger portion around the second axis.

4. The second finger portion is configured to extend from the second axis toward one side and the other side along a direction intersecting the second axis, The hand device according to claim 3, wherein, with one of the first finger work portion and the second finger work portion selected, the posture of the second finger portion is set such that the selected one of the first finger work portion and the second finger work portion is located on the side that extends beyond the end of the first finger portion and moves away from the hand base portion.

5. The hand device according to claim 1, wherein, with one of the first finger work portion and the second finger work portion selected, the finger portions are operated in a direction that brings them closer to each other, thereby grasping an object with the selected one of the first finger work portion and the second finger work portion.

6. The hand device according to claim 1, wherein the first finger work portion and the second finger work portion are composed of different materials.

7. The hand device according to claim 1, wherein the first finger work portion and the second finger work portion are configured to have different shapes from each other.

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