Light irradiation heat conduction device for robot hand and robot hand

Abstract

The present invention provides a light irradiation and heat conduction device for a robot hand that is attached to the robot hand and irradiates light and conducts heat. [Solution] The system comprises a light source unit 10 that emits light, a heat storage and conduction unit 20 that conducts heat, and a locking unit 30 for attaching the heat storage and conduction unit to a robot hand. The light source unit includes a light-emitting member that emits irradiated light, and the heat storage and conduction unit includes heat storage members 21, 22, 23, 24, 25, 27 that store the heat generated when the light-emitting member emits light, and an elongated sheet-shaped heat conduction member 26 that connects the light-emitting member and the heat storage member and conducts heat. The heat conduction members are arranged along the fingertips of the fingers of the robot hand, and the multiple light sources are each placed on the fingertips of the five fingers of the robot hand. The light sources emit irradiated light at the fingertips, and the heat conduction members of the heat storage and conduction unit conduct heat according to the position of the fingers of the robot hand.

Description

Technical Field

[0001] The present invention relates to a light irradiation and heat conduction device for a robot hand, which is mounted on the robot hand to irradiate light and conduct heat. Further, the present invention relates to a robot hand including the light irradiation and heat conduction device for a robot hand, which is mounted on the robot hand to irradiate light and conduct heat. Further, it may also relate to a medical device used when irradiating light on the body and conducting heat for treatment.

Background Art

[0002] A human hand has five fingers connected by joints around the palm, and each finger has a joint (first joint, second joint, third joint). Meanwhile, various forms of bipedal robots have been developed for home, military, and industrial use. Humanoid robots, which are made to mimic the structure of the human body, use joint movements similar to those of humans to perform actions such as running and walking. Some of these humanoid robots are equipped with robotic hands shaped to correspond to human hands, enabling them to perform tasks similar to those performed by human hands. Patent Document 1 discloses a joint device comprising a base, a movable part that moves relative to the base, a spherical bearing having an inner ring fixed to the base and an outer ring fixed to the movable part, a wire pulling device that pulls a wire connected to the outer ring and rotates the outer ring around two of the rotation axes of the roll axis, pitch axis, and yaw axis, and a rotation restricting part that restricts the rotation of the outer ring around the remaining rotation axis, which is not one of the two rotation axes. Patent Document 2 discloses a robot hand comprising a base portion, a plurality of finger structures connected to the base portion, a drive unit for driving the plurality of finger structures, and a wire for transmitting driving force from the drive unit to the plurality of finger structures, wherein each of the finger structures includes an MP joint portion connecting the base portion and the finger structure, and the MP joint portion includes an MP roll joint portion that rotates in the roll direction and an MP pitch joint portion that rotates in the pitch direction, and the MP roll joint portion and the MP pitch joint portion are spaced apart so as to form an offset from each other.Patent Document 3 discloses a technology relating to a hand for a humanoid robot, characterized in that the hand comprises a palm and several fingers, and each of the fingers can move relative to the palm between a resting position maintained by a spring effect and a compressed position obtained by driving a link between the finger and the palm to counteract the spring effect, and the hand comprises a motorized shaft connected to the link of each of the fingers, configured to move at least one first finger from the resting position to the compressed position by rotation in a first rotational direction of the motorized shaft, and at least one second finger by rotation in a rotational direction opposite to the first rotational direction of the motorized shaft. In addition, medical devices that treat the body by irradiating it with light (for example, laser light) are known.Patent Document 4 describes a laser system port adapter comprising: a first port arm for coupling to a laser source, the first port arm including an optical element for collimating a laser beam having a wavelength contained within at least one of two narrowbands of the electromagnetic spectrum of light; a second port arm for coupling to an illumination system; a third port arm for coupling to an optical fiber cable of a laser probe; and a diffractive optical element (DOE) configured to receive the collimated laser beam from the optical element and generate a multi-spot laser pattern of the laser beam in a multiple intersection region where the first port arm, the second port arm, and the third port arm intersect; and the electromagnetic spectrum of light The present invention discloses a laser system port adapter comprising a multiple crossing region including a beam splitter configured to reflect at least two narrowbands, receive a multispot pattern of the laser beam, reflect the multispot laser pattern of the laser beam toward the third port arm, receive an illumination beam from the illumination system, and transmit a portion of the illumination beam not included in the at least two narrowbands of the electromagnetic spectrum toward the third port arm, wherein the second and third port arms are substantially collinear across the crossing region, and the first port arm is substantially orthogonal to the second and third port arms in the multiple crossing region. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2025-141478 [Patent Document 2] Japanese Patent Publication No. 2011-140113 [Patent Document 3] Japanese Patent Publication No. 2017-514712 [Patent Document 4] Japanese Patent Publication No. 2023-138671 [Overview of the project] [Problems that the invention aims to solve]

[0004] In a society where humanoid robots are widespread, there will be a demand for robots (robot hands) that combine light irradiation and heat conduction functions to provide a sense of security and familiarity to people, allowing for safe and comfortable interaction, particularly in future fields such as elderly care support, medical support, and monitoring support. However, many conventional robots (robot hands) prioritize functions such as grasping objects and performing tasks, making it difficult to reproduce the warmth and sense of security felt when touched by a human. Especially for the elderly, children, and users requiring physical assistance, it is important to provide not only task support but also a sense of emotional security and trust. As shown in Figure 7, there is a demand for robots (robot hands) that can create a relaxing effect with soft light, or that can evoke the feeling of human warmth by providing warmth (heat), thereby increasing the sense of security. Furthermore, in the medical field, there is a demand for medical devices that can irradiate light and simultaneously apply heat to the body in order to enhance the effectiveness of treatment. Patent documents 1 to 4 do not contain any descriptions of robots (robot hands) that can irradiate light and simultaneously apply heat to the body.

[0005] The present invention aims to provide a robot (robot hand) that can reproduce a temperature distribution close to that of a human hand by combining a light irradiation function and a heat conduction function, thereby providing the user with warmth and a sense of security. The present invention aims to provide a light irradiation and heat conduction device for a robot hand that is attached to a robot hand for use, for example, to irradiate light and conduct heat. The present invention also aims to provide a robot hand that includes a light irradiation and heat conduction device for a robot hand that irradiates light and conducts heat. Furthermore, when adding functions (light irradiation function and heat conduction function) to a robot hand, the present invention aims to provide a light irradiation and heat conduction device for a robot hand that is easy to add functions to, highly safe, miniaturized, and less expensive. [Means for solving the problem]

[0006] This invention relates to a light irradiation and heat conduction device for a robot hand that is attached to a robot hand to irradiate light and conduct heat, comprising: a plurality of light source units that emit light; a heat storage and conduction unit that conducts heat; and a plurality of locking units for attaching the heat storage and conduction unit to the robot hand, wherein the light source unit comprises a light-emitting member that emits irradiation light; an optical element member that focuses the irradiation light emitted by the light-emitting member in a desired direction; and a reflective surface member that reflects the irradiation light emitted by the light-emitting member and projects it onto the optical element unit, wherein the heat storage and conduction unit comprises a heat storage member that stores the heat generated when the light source unit emits light, and a connection between the light source unit and the heat storage member to transfer the heat from the light source unit to the heat storage member The present invention provides a light irradiation heat conduction device for a robot hand, comprising a long, narrow sheet-shaped heat conductive member that conducts heat, wherein a plurality of locking portions are positioned at locations corresponding to a plurality of finger joints (first joint, second joint, third joint) of the robot hand, and when attached to the robot hand, the plurality of locking portions are used to position the heat conductive member along the fingertips of the fingers of the robot hand, and a plurality of light sources are positioned at the fingertips of the five fingers of the robot hand, and when the robot hand is operated, the light-emitting members of the light sources emit the irradiation light at the fingertips, and the heat conductive members of the heat storage and heat conduction portion conduct the heat in accordance with the position of the fingers of the robot hand.

[0007] Furthermore, the present invention may also be a light irradiation heat conduction device for a robot hand, wherein the light source is further positioned at a location corresponding to the center of the palm of the robot hand, and the heat storage and conduction unit further comprises a palm heat storage member that stores the heat generated from the light source positioned in the center, and a palm heat conduction member that conducts the heat stored by the palm heat storage member to the heat conduction member, wherein when the robot hand is operated, the light source positioned in the center emits the irradiation light in the center, and the palm heat conduction member of the heat storage and conduction unit conducts the heat from the center of the palm of the robot hand. Furthermore, the present invention may also be a light irradiation heat conduction device for a robot hand, wherein there are multiple light sources positioned at locations corresponding to the central part of the palm of the robot hand, and one light source positioned at each location corresponding to the fingertips and fingertips of the robot hand, and when the robot hand is operated, the central part becomes hotter due to the multiple light sources positioned at locations corresponding to the central part than the fingertips where one light source is positioned, thereby corresponding to the temperature distribution of a human palm.

[0008] Furthermore, the present invention may also be a robot hand comprising any one of the above-described light irradiation heat conduction devices for a robot hand, wherein the robot hand has a built-in drive unit and comprises a thumb portion, index finger portion, middle finger portion, ring finger portion, and little finger portion that bend and drive like human fingers, and a palm base portion that supports the thumb portion, index finger portion, middle finger portion, ring finger portion, and little finger portion and constitutes the base of the palm, wherein the plurality of light sources are fixed to the fingertips of the thumb portion, index finger portion, middle finger portion, ring finger portion, and little finger portion and the center of the palm base portion, respectively, the plurality of locking portions are fixed to the joint portions (first joint, second joint, third joint) of the thumb portion, index finger portion, middle finger portion, ring finger portion, and little finger portion, respectively, and the heat conduction member is attached to the robot hand using the locking portions and the heat conduction member is positioned along the inside of the fingers of the robot hand. [Effects of the Invention]

[0009] This invention is a technology that creates a sense of security and trust between humans and robots by adding the function of providing light and heat to robots. According to this invention, a robot hand having a light irradiation function and a heat conduction function can provide not only physical support but also psychological support to the user. Furthermore, this invention can provide a sense of security, familiarity, trust, and warmth by reproducing a temperature distribution close to that of a human hand. This invention is particularly effective in fields such as elderly care, medical support, rehabilitation support, monitoring support, and child support. In addition, since it can simultaneously perform the effect on the body by light irradiation and the warming effect by heat conduction, it is expected to improve user comfort and enhance the therapeutic support effect. According to this invention, a light irradiation and heat conduction device for a robot hand and a robot hand including the light irradiation and heat conduction device for a robot hand can be attached to a robot hand to irradiate light and conduct heat. Furthermore, according to the present invention, the light irradiation and heat conduction device for a robot hand and the robot hand including the light irradiation and heat conduction device for a robot hand will enable the use of a robot to irradiate light and conduct heat, in a future robot society where humanoid robots are widespread. This will allow for the creation of a relaxing effect with soft light, and the ability to imagine human warmth by feeling warmth (body temperature, heat), thereby providing a robot hand (robot) that is more approachable to humans. In addition, according to the present invention, the light irradiation and heat conduction device for a robot hand and the robot hand including the light irradiation and heat conduction device for a robot hand will enable the application of heat to the body simultaneously with light irradiation to enhance the therapeutic effect in medical settings where robot hands are used, thereby enabling effective treatment. Furthermore, according to the present invention, when adding functions (light irradiation function and heat conduction function) to a robot hand, the light irradiation and heat conduction device for a robot hand will be easy to add, highly safe, miniaturized, and less expensive. [Brief explanation of the drawing]

[0010] [Figure 1] This is an explanatory diagram illustrating an example of a light irradiation heat conduction device for a robot hand according to an embodiment of the present invention. [Figure 2] This is a schematic cross-sectional view illustrating an example of the light source section of a light irradiation heat conduction device for a robot hand according to an embodiment of the present invention. [Figure 3] This is an explanatory diagram illustrating an example of a robot hand according to an embodiment of the present invention. [Figure 4] This is a schematic cross-sectional view illustrating an example of the internal structure of a finger in a robot hand according to an embodiment of the present invention. [Figure 5] This is an explanatory diagram illustrating another example (improved example) of a light irradiation heat conduction device for a robot hand according to an embodiment of the present invention. [Figure 6] This is an explanatory diagram illustrating another example (improved example) of a robot hand according to an embodiment of the present invention. [Figure 7] This is an explanatory diagram illustrating the concept (effects when used) of the present invention. [Modes for carrying out the invention]

[0011] The present invention will be explained using an example of a light-irradiating heat conduction device or robot hand for a robot hand according to an embodiment. The present invention can be used not only for the light-irradiating heat conduction device and robot hand described below, but also for any device (instrument, apparatus, component, system, etc.) that irradiates light and conducts heat. Furthermore, when treating with the light-irradiating heat conduction device or robot hand according to the present invention, the diseases, injuries, or traumas being treated are not particularly limited.

[0012] The present invention will be described in the order shown below. 1. Configuration of a light irradiation heat conduction device for robot hands 2. Robot Hand Configuration 3. Light irradiation heat conduction device for robot hand and robot hand (improved design)

[0013] (1. Configuration of the Light Irradiation and Heat Conduction Device for a Robot Hand) Using FIGS. 1 and 2, the configuration of the light irradiation and heat conduction device for a robot hand according to an embodiment of the present invention will be described. Here, FIG. 1 is an explanatory diagram for explaining an example of the light irradiation and heat conduction device 110 for a robot hand according to an embodiment of the present invention. FIG. 2 is a schematic cross-sectional view for explaining an example of the light source unit 10 of the light irradiation and heat conduction device for a robot hand according to an embodiment of the present invention. Note that the configuration and the like of the light irradiation and heat conduction device for a robot hand shown in FIG. 1 and the like are examples, and the present invention is not limited to the light irradiation and heat conduction device for a robot hand shown in FIG. 1 and the like.

[0014] As shown in FIG. 1, the light irradiation and heat conduction device 110 for a robot hand according to the present invention is mounted on a robot hand to irradiate light and conduct heat. In this embodiment, as shown in FIG. 1, the light irradiation and heat conduction device 110 for a robot hand includes a plurality of light source units 10 that emit light, a plurality of heat storage and conduction units 20 that conduct heat, and a plurality of locking units 30 that respectively mount the heat storage and conduction units 20 on the robot hand. Further, in this embodiment, as shown in FIG. 1, the light irradiation and heat conduction device 110 for a robot hand further includes a sensor member 15 that senses contact with an object or the like at the position of the thenar. As shown in FIG. 1 (and FIG. 3 described later), the light irradiation and heat conduction device 110 for a robot hand is mounted on the robot hand (FIG. 3) using the locking unit 30, detects contact with an object or the like using the sensor member 15, irradiates light using the light source unit 10, and conducts heat (to the contacted object, person, etc.) using the heat storage and conduction unit 20. Note that the shape of the housing of the robot hand is not particularly limited and can be a shape determined in advance by design, experiment, calculation, or the like.

[0015] As shown in Figure 1 (and Figure 3), the light irradiation heat conduction device 110 for a robot hand according to the present invention has multiple light sources 10 positioned at locations corresponding to the fingertips and fingertips of the five fingers of the robot hand. Furthermore, the light irradiation heat conduction device 110 for a robot hand according to the present invention has multiple light sources 10 positioned at locations corresponding to the center of the palm of the robot hand. In other words, the light irradiation heat conduction device 110 for a robot hand according to the present invention has multiple light sources positioned at locations corresponding to the center of the palm of the robot hand, and one light source each at locations corresponding to the fingertips and fingertips. Therefore, when the robot hand is in operation, the light irradiation heat conduction device 110 for a robot hand according to the present invention can be made so that the central part becomes hotter than the fingertips, corresponding to the temperature distribution of a human palm, thus creating a situation that is closer to that of a human palm.

[0016] As shown in Figure 2, the light source unit 10 in this embodiment includes a light-emitting member 11 that emits irradiation light, an optical element member (such as an optical lens) 12 that focuses the irradiation light emitted by the light-emitting member 11 in a desired direction (in this embodiment, in front of the light-emitting member), a reflective surface member 13 that reflects the irradiation light emitted by the light-emitting member 11 and projects it onto the optical element member 12, and a flexible wiring 14 that supplies power to the light-emitting member 11. As a result, the light source unit 10 according to the present invention can improve the intensity of the focused light (irradiated light). A control board for controlling the light-emitting member may also be provided. Furthermore, a red LED may be used as the light-emitting member. Moreover, the light source unit according to the present invention is not particularly limited, and known technologies can be used. Furthermore, the shape and material of the light source unit according to the present invention can be predetermined by design, experimentation, calculations, etc.

[0017] As shown in FIG. 1, the heat storage and conduction part 20 conducts the heat generated by the light source part 10. In this embodiment, the heat storage and conduction part 20 includes a heat storage member (thumb heat storage member 21, index finger heat storage member 22, middle finger heat storage member 23, ring finger heat storage member 24, little finger heat storage member 25) that stores the heat generated when the light source part 10 emits light, and a long and narrow sheet-like heat conduction member 26 that connects the light source part 10 and the heat storage members (21, 22, 23, 24, 25) to conduct heat from the light source part 10 to the heat storage members (21, 22, 23, 24, 25). When the light irradiation heat conduction device 110 for a robot hand according to the present invention is mounted on the robot hand, a plurality of locking parts 30 are used to arrange (fix) the heat conduction member 26 along the fingertips of the fingers of the robot hand. Here, for the heat storage member according to the present invention, a flat plate (for example, a metal plate) that can be built into the finger of the robot hand can be used. For the heat conduction member according to the present invention, a long and narrow sheet-like flat plate (for example, a metal with high thermal conductivity) that can be bent can be used. Thereby, when the robot hand operates, the light emitting member 11 of the light source part 10 emits light at the fingertips, and the heat conduction member 26 of the heat storage and conduction part 20 can conduct heat according to the position of the finger of the robot hand. In the present invention, the heat storage members (21, 22, 23, 24, 25) and the heat conduction member 26 are not particularly limited, and known techniques can be used. Also, the shapes and materials of the heat storage members (21, 22, 23, 24, 25) and the heat conduction member 26 can be shapes and materials determined in advance by design, experiment, calculation, etc.

[0018] Furthermore, as shown in Figure 1, the heat storage and conduction unit 20 in this embodiment further includes a palm heat storage member 27 that stores heat generated from a plurality of light sources 10 located in the center of the palm of the robot hand, and a palm heat conduction member 28 that conducts the heat stored by the palm heat storage member 27 to the heat conduction member 26. Here, the palm heat storage member according to the present invention can be a disc (for example, a metal disc). The palm heat conduction member according to the present invention can be a thin, foldable sheet-like plate (for example, a metal plate with high thermal conductivity). As a result, when the robot hand is operated, the light irradiation heat conduction device 110 for robot hands according to the present invention can transmit the heat generated by the palm heat conduction member 28 of the heat storage and conduction unit 20 from the center of the palm towards the fingertips. Furthermore, the palm-type heat storage member and palm-type heat conduction member according to this invention are not particularly limited, and known technologies can be used. In addition, the shape and material of the palm-type heat storage member and palm-type heat conduction member according to this invention can be predetermined through design, experimentation, calculations, etc.

[0019] As shown in Figure 1, in the light irradiation heat conduction device 110 for robot hands according to the present invention, there are multiple light source units 10 positioned at locations corresponding to the center of the palm of the robot hand, and one light source unit 10 positioned at locations corresponding to the fingertips and fingertips of the robot hand. As a result, when the robot hand is in operation, the light irradiation heat conduction device 110 for robot hands according to the present invention can be configured to correspond to the temperature distribution of a human palm, with the center generating more heat than the fingertips, and the center becoming hotter than the fingertips. Furthermore, the light irradiation heat conduction device 110 for robot hands according to the present invention can detect when the robot hand has come into contact with a human using a sensor member 15. As a result, the light irradiation heat conduction device 110 for robot hands according to the present invention (or a robot hand equipped with it) may be configured to activate the heat conduction function only when "shaking hands," "holding hands," "touching shoulders," or "assisting" (controlling the activation / deactivation of heat conduction by turning light irradiation on / off). Furthermore, the light irradiation heat conduction device 110 for robot hands according to the present invention (or a robot hand equipped with it) can activate / stop heat conduction by turning the light irradiation on / off, thereby achieving power saving and improved safety. Herein, the sensor member and its control method according to the present invention are not particularly limited, and known technologies such as pressure-sensitive members, piezoelectric elements, and capacitive types can be used.

[0020] As described above, the light irradiation and heat conduction device 110 for robot hands according to the present invention can be attached to a robot hand to irradiate light and conduct heat. Furthermore, in a future robot society where humanoid robots are widespread, the light irradiation and heat conduction device 110 for robot hands according to the present invention can be used to irradiate light and conduct heat using a robot, so it is possible to create a relaxing effect with soft light, or imagine human warmth by feeling warmth (body temperature, heat), thus realizing a robot hand (robot) that is more approachable to humans. Furthermore, in medical settings where robot hands are used, the light irradiation and heat conduction device 110 for robot hands according to the present invention can irradiate light and simultaneously provide heat to the body to enhance the therapeutic effect, enabling effective treatment. Furthermore, when adding functions (light irradiation function and heat conduction function) to a robot hand according to the present invention, the light irradiation and heat conduction device for robot hands according to the present invention can be easily added, highly safe, miniaturized, and at a lower cost.

[0021] (2. Robot Hand Configuration) The robot hand according to the present invention includes a light irradiation heat conduction device for the robot hand (for example, 110 in Figure 1). The configuration of the robot hand according to an embodiment of the present invention will be explained using Figures 3 and 4. Here, Figure 3(a) is an explanatory diagram showing an example of the robot hand 111 according to an embodiment of the present invention (palm side) with the light irradiation heat conduction device for the robot hand (110 in Figure 1) attached. Figure 3(b) is an explanatory diagram showing an example of the robot hand 111 according to an embodiment of the present invention (back of hand side). Figure 4 is a schematic cross-sectional view illustrating an example of the internal structure of the fingers of the robot hand according to an embodiment of the present invention. Note that the robot hand shown in Figures 3 and 4 is just an example, and the present invention is not limited to the robot hand shown in Figures 3 and 4.

[0022] As shown in Figure 3, the robot hand 111 according to the present invention includes the light irradiation heat conduction device 110 for the robot hand described in (1. Configuration of the light irradiation heat conduction device for the robot hand) above. Therefore, the following description will mainly explain the parts that differ from the description in (1. Configuration of the light irradiation heat conduction device for the robot hand).

[0023] As shown in Figure 3(a), the robot hand 111 according to the present invention, in this embodiment, includes a thumb portion 41, index finger portion 42, middle finger portion 43, ring finger portion 44, and little finger portion 45 that bend and are driven like human fingers. Here, the thumb portion 41, index finger portion 42, middle finger portion 43, ring finger portion 44, and little finger portion 45 have built-in drive units and bend and are driven like human fingers. The method of driving the thumb portion, index finger portion, middle finger portion, ring finger portion, and little finger portion according to the present invention is not particularly limited, and known techniques can be used. Furthermore, the shape and material of the thumb portion, index finger portion, middle finger portion, ring finger portion, and little finger portion according to the present invention can be predetermined through design, experimentation, calculations, etc.

[0024] As shown in Figure 3(a), the robot hand 111 according to the present invention, in this embodiment, includes a palm base portion 46 that constitutes the base of the palm. Here, the palm base portion 46 supports the thumb portion 41, index finger portion 42, middle finger portion 43, ring finger portion 44, and little finger portion 45 and controls their movement. The configuration of the palm base portion according to the present invention (drive mechanism and control mechanism) is not particularly limited, and known technologies can be used. In addition, the shape and material of the palm base portion can be predetermined through design, experimentation, calculations, etc.

[0025] As shown in Figure 3(b), in this embodiment, the robot hand 111 according to the present invention is equipped with a palm surface cover member 51 and a finger surface cover member 52 on the back of the hand. The palm surface cover member and finger surface cover member according to the present invention are not particularly limited, and known technologies can be used. Furthermore, the shape and material of the palm surface cover member and finger surface cover member according to the present invention can be predetermined through design, experimentation, calculations, etc.

[0026] As shown in Figure 3, the robot hand 111 according to the present invention has light source units 10 fixed to the fingertips of the thumb 41, index finger 42, middle finger 43, ring finger 44, and little finger 45, as well as to the center of the palm base 46. Furthermore, the robot hand 111 according to the present invention has locking parts 30 fixed to the joint portions (first joint, second joint, and third joint) of the thumb 41, index finger 42, middle finger 43, ring finger 44, and little finger 45. In addition, the robot hand 111 according to the present invention uses the locking parts fixed to the robot hand (finger joints) to position (fix) the heat conducting members 26. This allows the robot hand 111 according to the present invention to position the heat conducting members 26 along the inside of the fingers of the robot hand and in accordance with the shape of the hand. It should be noted that the method of fixing and positioning the locking parts according to the present invention is not particularly limited, and known techniques can be used.

[0027] Figure 4 shows an example of the internal structure of the fingers of a robot hand according to the present invention. As shown in Figure 4, a heat storage member 21 for the thumb, a heat storage member 22 for the index finger, a heat storage member 23 for the middle finger, a heat storage member 24 for the ring finger, or a heat storage member 25 for the little finger are arranged inside the fingers of the robot hand. The heat storage members for the thumb, index finger, middle finger, ring finger, and little finger according to the present invention are not particularly limited, and known technologies can be used. Furthermore, the shape and material of the heat storage members for the thumb, index finger, middle finger, ring finger, and little finger according to the present invention can be predetermined through design, experimentation, calculations, etc.

[0028] As described above, the robot hand according to the present invention can obtain the same effects as the light irradiation heat conduction device for robot hands described in (1. Configuration of the light irradiation heat conduction device for robot hands) above. Furthermore, the robot hand according to the present invention can be easily attached to the locking part (finger joint portion) of the light irradiation heat conduction device for robot hands, and can be attached to various types of robot hands, making it highly versatile.

[0029] (3. Light irradiation heat conduction device for robot hand and robot hand (improved design)) The configuration of the light irradiation heat conduction device for robot hands (improved version) and robot hands (improved version) according to the present invention will be explained using Figures 5 and 6. Here, Figure 5 is an example of the light irradiation heat conduction device 120 for robot hands according to the present invention. Figure 6 is an example of a robot hand 121 equipped with the light irradiation heat conduction device 120 for robot hands according to the present invention. Note that the light irradiation heat conduction device for robot hands and robot hands shown in Figures 5 and 6 are examples, and the present invention is not limited to the light irradiation heat conduction device for robot hands and robot hands shown in Figures 5 and 6.

[0030] As shown in Figure 5, the light irradiation heat conduction device 120 for a robot hand according to the present invention includes the light irradiation heat conduction device 110 for a robot hand described in (1. Configuration of the light irradiation heat conduction device for a robot hand) above. Therefore, the following description will mainly explain the parts that differ from the description in (1. Configuration of the light irradiation heat conduction device for a robot hand).

[0031] As shown in Figure 5, in this embodiment, the light irradiation heat conduction device 120 for a robot hand according to the present invention further includes a light source unit 10 between the first, second, and third joints of the thumb, index finger, middle finger, ring finger, and little finger. As a result, as shown in Figure 6, the robot hand 121 (light irradiation heat conduction device 120 for a robot hand) according to the present invention can irradiate light in a shape that precisely corresponds to the shape of a human palm when the robot hand is in operation, and can conduct heat with a temperature distribution that precisely corresponds to the shape of a human palm.

[0032] As described above, the light irradiation heat conduction device 120 and robot hand 121 for a robot hand according to the improved design of the present invention can obtain the same effects as (1. Configuration of the light irradiation heat conduction device for a robot hand) and (2. Configuration of the robot hand) described above. [Industrial applicability]

[0033] This invention can be used in robots equipped with robotic hands. This invention can be suitably used in gene therapy, immunotherapy, regenerative medicine, antibody drug production, the beauty field (cosmetics, etc.), the food field, and other fields as a method of treating the body by irradiating it with light and applying heat.

[0034] As described above, embodiments of the present invention have been explained, but the present invention is not limited to the embodiments described above. That is, the present invention can be modified, altered, or otherwise arbitrarily changed in various ways based on the contents described in the claims. [Explanation of Symbols]

[0035] 110, 120: Light irradiation heat conduction device for robot hands 111, 121: Robot Hand 10: Light source section 11: Light-emitting components (LED, LED substrate, control unit) 12: Optical element components 13: Reflective surface member 14: Flexible wiring 15: Sensor components (pressure-sensitive components, piezoelectric elements, capacitive sensors, etc.) 20: Heat storage and conduction section 21: Heat storage material for the thumb (heat storage material) 22: Indicator heat storage member (heat storage member) 23: Heat storage component for middle finger (heat storage component) 24: Heat storage component for ring fingers (heat storage component) 25: Heat storage component for the little finger (heat storage component) 26: Heat conductive material 27: Palm-sized heat storage component 28: Palm-mounted heat conductive material 30: Locking part 41: Thumb area 42: Index finger 43: Middle finger 44: Ring finger (part of the ring finger) 45: Little finger 46: Palm base 51: Palm surface cover member 52: Finger surface cover component

Claims

1. A light irradiation and heat conduction device for a robot hand, which is attached to the robot hand and irradiates light and conducts heat, Multiple light sources that emit the aforementioned light, The aforementioned heat storage and heat conduction section that conducts heat, Multiple locking parts for attaching the heat storage and heat conduction unit to the robot hand It has, The light source unit comprises a light-emitting member that emits irradiation light, an optical element member that focuses the irradiation light emitted by the light-emitting member in a desired direction, a reflective surface member that reflects the irradiation light emitted by the light-emitting member and projects it onto the optical element member, and a flexible wiring that supplies power to the light-emitting member. The heat storage and conduction unit comprises a flat plate-shaped heat storage member that stores the heat generated when the light source unit emits light, and an elongated sheet-shaped heat conduction member that connects the light source unit and the heat storage member and conducts the heat from the light source unit to the heat storage member. The multiple locking parts are positioned at locations corresponding to the multiple finger joints (first joint, second joint, third joint) of the robot hand, When attaching to the robot hand, the heat conductive member is positioned along the fingertips of the fingers of the robot hand using a plurality of locking parts, and the plurality of light sources are positioned on the fingertips of the five fingers of the robot hand, When the robot hand is operated, the light-emitting member of the light source unit emits the irradiation light at the fingertip, and the heat-conducting member of the heat storage and heat conduction unit conducts the heat in accordance with the position of the fingers of the robot hand. The light source is further positioned at a location corresponding to the center of the palm of the robot hand. The heat storage and conduction unit further comprises a palm-sized heat storage member that stores the heat generated from the light source unit located in the central part, and a palm-sized heat conduction member that conducts the heat stored by the palm-sized heat storage member to the heat conduction member. When the robot hand is operated, the light source located in the central part emits the irradiation light in the central part, and the palm heat conduction member of the heat storage and conduction part conducts the heat from the center of the palm of the robot hand. A light-irradiation heat conduction device for a robot hand, characterized by the following features.

2. A robot hand comprising a light irradiation heat conduction device for a robot hand as described in claim 1, It has a built-in drive unit and features thumb, index finger, middle finger, ring finger, and little finger parts that bend and move like human fingers. It comprises a palm base portion that supports the thumb portion, the index finger portion, the middle finger portion, the ring finger portion, and the little finger portion, and constitutes the base of the palm. Multiple light sources are fixed to the center of the fingertips of the thumb, index finger, middle finger, ring finger, and little finger, and to the center of the palm base, respectively. The multiple locking parts are fixed to the joint portions (first joint, second joint, and third joint) of the thumb, index finger, middle finger, ring finger, and little finger, respectively. The heat conductive member is attached to the robot hand using the locking portion, and the heat conductive member is positioned along the inside of the fingers of the robot hand. A robotic hand characterized by the following features.

3. It further includes a sensor component that detects contact with a human being based on the pressure change when an object comes into contact with it. The light source unit emits the aforementioned light and conducts the aforementioned heat only when "shaking hands," "holding hands," "touching shoulders," and "providing assistance." The robot hand according to claim 2, characterized in that

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