Handheld device

Abstract

The hand device is configured to allow objects of different sizes to be properly grasped by the fingers. [Solution] The device is provided with first finger portions 11-14, second finger portions 21-24 provided on the first finger portions 11-14, and gripping portions 81, 83 provided on the second finger portions 21-24. When the first finger portions 11-14 are operated in a direction that brings them closer to each other, the gripping portions 81, 83 grip the object. When the first finger portions 11-14 are operated in a direction that brings them closer to each other and the gripping portions 81, 83 come into contact with the object, the second finger portions 21-24 remain in the position where they are in contact with the object, and an elastic member 38 is provided that allows the first finger portions 11-14 to be operated in a direction that brings them closer to each other relative to the second finger portions 21-24.

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 in which they approach each other, an object is grasped by the finger portions, and by operating the plurality of finger portions in a direction in which they separate from each other, the finger portions are separated from the object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The hand device of Patent Document 1 is suitable for repeatedly grasping objects of the same size by finger portions, such as parts on a production line. On the other hand, there is an increasing demand for a hand device that can appropriately grasp objects of different sizes by finger portions, such as agricultural crops.

[0005] An object of the present invention is to configure a hand device so that objects of different sizes can be appropriately grasped by finger portions.

Means for Solving the Problems

[0006] The hand device of the present invention comprises a hand base, a plurality of first finger portions provided on the hand base, a plurality of second finger portions provided on each of the first finger portions, a gripping portion provided on each of the second finger portions, and a first finger motor capable of operating the first finger portions. The device is configured such that when the first finger portions are operated by the first finger motor in a direction that brings them closer to each other, an object is gripped by the gripping portion. When the first finger portions are operated by the first finger motor in a direction that brings them closer to each other and the gripping portion comes into contact with an object, the second finger portions remain in the position where they are in contact with the object, and the device is provided with an elastic member that allows the first finger portions to be operated in a direction that brings them closer to each other relative to the second finger portions.

[0007] According to the present invention, for example, when grasping a large object, if the first finger portions are operated in a direction that brings them closer together, the gripping portion of the second finger portion makes contact slightly earlier. For example, when grasping a small object, if the first finger portions are operated in a direction that brings them closer together, the gripping portion of the second finger portion makes contact with the object slightly later.

[0008] After the gripping portion of the second finger comes into contact with an object, if the first finger is moved in a direction that brings them closer together, the second finger remains in the position where it was in contact with the object, and the elastic deformation of the elastic member allows the first finger to be moved in a direction that brings them closer together. The biasing force caused by the elastic deformation of the elastic member presses the gripping portion of the second finger against the object, and the object is gripped by the gripping portion of the second finger.

[0009] According to the present invention, regardless of the size of the object, whether the first finger portion is operated with a predetermined stroke in a direction approaching each other or at a predetermined speed, the object can be grasped effortlessly by the gripping portion of the second finger portion, thereby improving the gripping performance of the hand device. Since the impact when the gripping portion of the second finger comes into contact with an object is expected to be mitigated by the elastic material, it is suitable for gripping relatively soft objects such as agricultural products, and in this respect as well, the gripping performance of the hand device can be improved.

[0010] In other words, regarding the presence of elastic members, there is little need to change the stroke in which the first fingers are operated in the direction of approaching each other, and there is little need to change the speed at which the first fingers are operated in the direction of approaching each other, depending on the size of the object. This reduces the need for complex stroke control and speed control according to the size of the object when manipulating the first fingers in a direction that brings them closer together, thus simplifying the structure of the hand device.

[0011] In the present invention, the first finger portion is preferably provided on the hand base so as to be pivotable around a first axis, and the second finger portion is preferably provided on the first finger portion so as to be pivotable around a second axis along the first axis, and a second finger portion motor is provided, the operation of the second finger portion motor is transmitted to the second finger portion via the elastic member, and the second finger portion is preferably operated by the second finger portion motor around the second axis.

[0012] According to the present invention, the operation of the second finger motor is transmitted to the second finger via an elastic member, thereby changing the orientation of the second finger relative to the first finger. If the position of the second finger before contact with the object is changed to be closer to the object, a state suitable for grasping small objects can be obtained. If the position of the second finger before contact with the object is changed to be further away from the object, a state suitable for grasping large objects can be obtained.

[0013] As a result, in addition to the function of the elastic member, the range of object sizes that the hand device can grasp can be expanded by changing the posture of the second finger, which is advantageous in terms of improving the gripping performance of the hand device.

[0014] For example, when gripping relatively soft objects such as agricultural products, if the gripping portion of the second finger is strongly pressed against the object due to the biasing force caused by the elastic deformation of the elastic member, there is a concern that the object may be damaged. In this case, the position of the second finger before contact with the object is changed to the side further away from the object, which avoids the gripping portion of the second finger being strongly pressed against the object. This is advantageous in terms of improving the gripping performance of the hand device.

[0015] In the present invention, the device is provided with a drive shaft that drives the second finger portion to swing around the second axis, and a transmission belt that is attached across the second finger portion motor and the drive shaft, capable of transmitting the operation of the second finger portion motor to the drive shaft, and is elastic, wherein the transmission belt is preferably the elastic member.

[0016] According to the present invention, the operation of the second finger motor is transmitted to the drive shaft of the second finger via a transmission belt, which allows for a large change in the posture of the second finger without difficulty. This is advantageous in terms of widening the range of object sizes that the hand device can grasp, and is advantageous in terms of improving the gripping performance of the hand device.

[0017] According to the present invention, the transmission belt has both the function of significantly changing the posture of the second finger and the function of an elastic member, so by using the same member for both purposes, it is advantageous in terms of simplifying the structure of the hand device. [Brief explanation of the drawing]

[0018] [Figure 1] This is a side view of the hand device in the first gripping position of the gripping mode. [Figure 2] These are cross-sectional views of the hand device in the first gripping position of the gripping mode, taken from the D-D direction in Figures 1, 4, and 5. [Figure 3] These are cross-sectional views of the hand device in the first gripping position of the gripping mode, taken from the C-C direction in Figures 1, 4, and 5. [Figure 4] This is a cross-sectional view of the hand device in the first gripping position of the gripping mode, viewed from direction A-A in Figures 2 and 3. [Figure 5] This is a cross-sectional view of the hand device in the first gripping position of the gripping mode, viewed from the B-B direction in Figures 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] It is a side view showing the state of holding an object in the hand device in the first holding posture (second holding posture) of the holding mode. [Figure 11] It is a side view showing the state of holding an object in the hand device in the first holding posture (second holding posture) of the holding mode. [Figure 12] It is a side view showing the state of holding an object in the hand device in the first holding posture (second holding posture) of the holding mode. [Figure 13] It is a cross-sectional view of the hand device in the second holding posture of the holding mode, viewed from the D - D direction in FIGS. 1, 4, and 5. [Figure 14] It is a cross-sectional view of the hand device in the second holding posture of the holding mode, viewed from the D - D direction in FIGS. 1, 4, and 5. [Figure 15] It is a side view of the hand device in the working posture of the working mode. [Figure 16] It is a view of the hand device in the working posture of the working mode, viewed from the E - E direction in FIG. 15.

Embodiments for Carrying Out the Invention

[0019] (Overall Configuration of the Hand Device) As shown in FIGS. 1, 2, and 3, the hand device includes a hand base 1, four sets of support mechanisms 40, 50, 60, 70, four sets of finger bases 31, 32, 33, 34, four sets of first finger parts 11, 12, 13, 14, four sets of second finger parts 21, 22, 23, 24, four sets of electric motors 15, 16, 17, 18, and four sets of electric motors 25, 26, 27, 28 (see FIGS. 6 and 7).

[0020] 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.

[0021] 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.

[0022] (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.

[0023] 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.

[0024] (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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] (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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] (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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] (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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] (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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] (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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] (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.

[0057] 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).

[0058] 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.

[0059] (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.

[0060] 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.

[0061] 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.

[0062] 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).

[0063] 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.

[0064] (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).

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] (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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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.

[0078] 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).

[0079] 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.

[0080] (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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] (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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] (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.

[0092] 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).

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] (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.

[0100] 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).

[0101] 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.

[0102] 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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] (First alternative embodiment of the invention) The transmission belt 38 and tension pulley 37 may be eliminated, and a coil spring (not shown) may be provided as an elastic member.

[0107] In the above configuration, it is preferable that the coil spring is wrapped around the drive shaft 30, one end of the coil spring is attached to the drive shaft 30, and the other end of the coil spring is connected to the electric motors 25-28. The coil springs are rotated around the drive shaft 30 by the electric motors 25-28, and the operation of the electric motors 25-28 is transmitted to the drive shaft 30 via the coil springs, causing the drive shaft 30 and the second finger parts 21-24 to rotate.

[0108] (Second alternative embodiment of the invention) If the transmission belt 38 and tension pulley 37 are eliminated and a coil spring (not shown) is provided as an elastic member, the electric motors 25-28 may be eliminated. In the above configuration, the coil spring is wrapped around the drive shaft 30, one end of the coil spring is attached to the drive shaft 30, and the other end of the coil spring is fixed to the first finger portions 11-14.

[0109] (Correspondence between parts) - 1 Electric motors 15, 16, 17, and 18 correspond to the first finger motors. Electric motors 25, 26, 27, and 28 correspond to the second finger motors. Axles P11, P12, P13, and P14 correspond to the first axis. Axles P21, P22, P23, and P24 correspond to the second axis. The transmission belt 38 corresponds to the elastic member.

[0110] (Correspondence between parts) - 2 The device comprises a hand base 1, a plurality of first finger portions 11-14 provided on the hand base 1, a plurality of second finger portions 21-24 provided on each of the first finger portions 11-14, and gripping portions 81-84 provided on each of the second finger portions 21-24.

[0111] The device is equipped with first finger motors (electric motors 15-18) that can operate the first finger portions 11-14. When the first finger portions 11-14 are operated by the first finger motors (electric motors 15-18) in a direction that brings them closer together, the device is configured to grip an object M with the gripping portions 81-84.

[0112] The first finger motors (electric motors 15-18) operate the first finger portions 11-14 in a direction that brings them closer to each other, causing the gripping portions 81-84 to come into contact with the object M. As a result, the second finger portions 21-24 remain in the position where they are in contact with the object M. An elastic member (transmission belt 38) is provided that allows the first finger portions 11-14 to be operated in a direction that brings them closer to each other relative to the second finger portions 21-24.

[0113] (Correspondence between parts) - 3 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 able to swing around the second axis (axis P21-P24) which is aligned with the first axis (axis P11-P14).

[0114] The second finger section is equipped with motors (electric motors 25-28). The operation of the second finger section motors (electric motors 25-28) is transmitted to the second finger sections 21-24 via an elastic member (transmission belt 38), and the second finger section motors (electric motors 25-28) operate the second finger sections 21-24 around the second axis (P21-P24).

[0115] (Correspondence between parts) - 4 A drive shaft 30 is provided to pivot the second finger portions 21-24 around the second axis (axis P21-P24). A transmission belt 38 is provided, which is attached across the second finger motors (electric motors 25-28) and the drive shaft 30, and is capable of transmitting the operation of the second finger motors (electric motors 25-28) to the drive shaft 30, and is elastic. The transmission belt 38 is an elastic member (transmission belt 38). [Industrial applicability]

[0116] This invention can be applied to handheld devices. [Explanation of Symbols]

[0117] 1. Hand base 11~14 1st finger 15-18 Electric motor (first finger motor) 21~24 2nd finger 25-28 Electric motor (second finger motor) 30 Drive shaft 38. Transmission belt (elastic component) 81~84 Grip part M object P11~P14 Axis center (1st axis center) P21~P24 Axis core (2nd axis core)

Claims

1. Hand base and, Multiple first finger portions provided on the base of the hand, Multiple second finger portions are provided on each of the first finger portions, Each of the second finger portions is provided with a gripping portion, The device is equipped with a first finger motor capable of operating the first finger portion, The device is configured such that when the first finger motor moves the first finger portions toward each other, the gripping portion grips an object. A hand device comprising a first finger motor which operates the first fingers toward each other, causing the gripping portion to come into contact with an object, thereby leaving the second fingers in the position where they made contact with the object, and an elastic member which allows the first fingers to be operated toward each other relative to the second fingers.

2. 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 able to swing around the second axis along the first axis, A second finger motor is provided. The hand device according to claim 1, wherein the operation of the second finger motor is transmitted to the second finger via the elastic member, and the second finger is operated around the second axis by the second finger motor.

3. A drive shaft that drives the second finger portion to oscillate around the second axis, A transmission belt is provided, which is attached across the second finger motor and the drive shaft, capable of transmitting the operation of the second finger motor to the drive shaft, and which is elastic. The hand device according to claim 2, wherein the transmission belt is the elastic member.

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