Multi-fingered mechanism and device

Abstract

This mechanism having a plurality of fingers according to one embodiment comprises: a plurality of movable fingers; a drive component; and a transmission mechanism. The drive component can move in a first direction, and a second direction, which is opposite to the first direction. The transmission mechanism transmits a force between the drive component and the plurality of movable fingers. If the drive component is being moved from a first position in the first direction, at least one of the plurality of movable fingers performs, in accordance with the movement of the drive component, a first operation. If the drive component is being moved from the first position in the second direction, at least one of the plurality of movable fingers performs, in accordance with the movement of the drive component, a second operation, which is different from the first operation.

Description

[Technical field]

[0001] An embodiment of the present invention is a mechanism having multiple fingers. and equipment Regarding. [Background technology]

[0002] For example, mechanisms with multiple movable fingers are known for use in robotic hands and prosthetic hands. The fingers of the mechanism are driven by actuators such as motors to perform a predetermined motion, such as grasping an object. Mechanisms equipped with multiple actuators to perform multiple motions are also known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Special Publication No. 2017-503668 Summary of the Invention [Problem to be solved by the invention]

[0004] There are multi-fingered mechanisms that can perform one action with a simple structure using a single actuator. However, when multiple actuators are installed in a multi-fingered mechanism for multiple actions, the cost of the mechanism increases. In some cases, it may be possible to substitute other types of actions for actions that can be performed with a single actuator, but this leads to reduced accuracy and limited situations.

[0005] One example of the problem to be solved by the present invention is a mechanism having multiple fingers that can perform multiple types of movements. and equipment The purpose of this project is to provide [Means for solving the problem]

[0006] According to one embodiment of the present invention, a mechanism having multiple fingers includes a plurality of movable fingers, a driving component, and a transmission mechanism. The driving component has a first direction and a second direction. Opposite of and a second direction. The transmission mechanism transmits force between the driving component and the plurality of movable fingers. When the driving component moves from a first position in the first direction, at least one of the plurality of movable fingers performs a first motion in response to the motion of the driving component. When the driving component moves from the first position in the second direction, at least one of the plurality of movable fingers performs a second motion different from the first motion in response to the motion of the driving component. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a plan view that illustrates a schematic diagram of a hand device according to a first embodiment. [Diagram 2] FIG. 2 is a plan view that illustrates the inside of the hand device according to the first embodiment. [Diagram 3] FIG. 3 is a cross-sectional view that illustrates a schematic diagram of a movable finger according to the first embodiment. [Figure 4] FIG. 4 is a side view that diagrammatically illustrates the hand device according to the first embodiment. [Diagram 5] FIG. 5 is a side view that illustrates a schematic diagram of the hand device that performs a gripping motion according to the first embodiment. [Figure 6] FIG. 6 is a side view that illustrates a schematic diagram of the hand device that performs a picking operation according to the first embodiment. [Figure 7] FIG. 7 is a plan view illustrating the inside of a hand device according to the second embodiment. [Figure 8] FIG. 8 is a side view that illustrates a schematic diagram of a hand device that performs a picking operation according to the second embodiment. [Figure 9] FIG. 9 is a plan view that illustrates the inside of a hand device according to the third embodiment. [Figure 10] FIG. 10 is a side view that illustrates a schematic diagram of a hand device that performs a picking operation according to the third embodiment. [Figure 11] FIG. 11 is a plan view that illustrates the inside of a hand device according to the fourth embodiment. [Figure 12]FIG. 12 is a plan view illustrating the inside of a hand device according to a modified example of the fourth embodiment. [Figure 13] FIG. 13 is a plan view illustrating the inside of a hand device according to an example of the fifth embodiment. As shown in FIG. [Figure 14] FIG. 14 is a plan view illustrating the inside of a hand device according to another example of the fifth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] (First embodiment) The first embodiment will be described below with reference to FIGS. 1 to 6. In this specification, components according to the embodiment and their descriptions may be described in a number of ways. The components and their descriptions are merely examples and are not limited by the expressions in this specification. The components may be identified by names different from those in this specification. Furthermore, the components may be described by expressions different from those in this specification.

[0009] FIG. 1 is a plan view that shows a schematic diagram of a hand device 10 according to a first embodiment. The hand device 10 is an example of a mechanism having multiple fingers. As shown in FIG. 1, the hand device 10 of this embodiment has a shape that imitates a human hand. Note that the hand device 10 is not limited to this example, and may have a shape different from that of a human hand.

[0010] The hand device 10 is a so-called robot hand that is mounted on a robot 1. The robot 1 may be, for example, an industrial robot with an arm extending from a support base, or a humanoid robot having a humanoid body. The hand device 10 may be mounted on other devices, such as a prosthetic hand that can be worn by a human.

[0011] The robot 1 of this embodiment has a control unit 2 and a hand device 10. The control unit 2 controls the hand device 10. The control unit 2 is a computer having a processing device such as a Central Processing Unit (CPU), a memory such as a Random Access Memory (RAM) or a Read Only Memory (ROM), and an auxiliary storage device such as a Hard Disk Drive (HDD) or a Solid State Drive (SSD). The control unit 2 may have a power source such as a battery. The power source may also be provided outside the robot 1. Depending on the type of the drive unit 11, the control unit 2 may not be provided in the hand device 10.

[0012] The hand device 10 has a drive unit 11, a palm 12, and a plurality of movable fingers 13. The hand device 10 of this embodiment, which imitates a human hand, has five movable fingers 13. However, the number of movable fingers 13 is not limited to this example.

[0013] The five movable fingers 13 include an index finger 13A, a middle finger 13B, a nominal finger 13C, a little finger 13D, and a thumb 13E. The index finger 13A is an example of a first finger. The thumb 13E is an example of a second finger. The index finger 13A, the middle finger 13B (third finger), the nominal finger 13C (fourth finger), the little finger 13D (fifth finger), and the thumb 13E have shapes corresponding to the index finger, the middle finger, the nominal finger, the little finger, and the thumb of a human, and are disposed at positions corresponding thereto.

[0014] 2 is a plan view that illustrates the inside of the hand device 10 of the first embodiment. As shown in FIG. 2, the driving unit 11 of the present embodiment has a housing 21, an actuator 22, and a driving component 23.

[0015] The housing 21 houses the actuator 22 and the driving parts 23. In the example of Fig. 1 and Fig. 2, the housing 21 is disposed on the wrist of the robot 1 (i.e., the part where the hand device 10 and the main part of the robot 1 are connected). Note that the housing 21 is not limited to this example.

[0016] In this embodiment, the actuator 22 is, for example, a servo motor. However, the actuator 22 is not limited to this example, and may be other actuators such as a solenoid, a power cylinder, and a linear actuator. The actuator 22 in this embodiment has a drive shaft 22a. The actuator 22 can rotate the drive shaft 22a around a central axis Ax of the drive shaft 22a.

[0017] The driving part 23 in this embodiment is formed in a disk shape that is approximately perpendicular to the central axis Ax. The driving part 23 is not limited to this example, and may be formed in another shape. In this embodiment, the driving part 23 is attached to the driving shaft 22a of the actuator 22. The driving part 23 may be rotatably supported by another part. In this case, for example, the driving shaft 22a of the actuator 22 rotates the driving part 23 via various transmission mechanisms.

[0018] The actuator 22 can selectively rotate the drive shaft 22a and the drive part 23 in a first direction D1 and a second direction D2. In other words, the drive part 23 can move in the first direction D1 and the second direction D2.

[0019] In this embodiment, the first direction D1 is one direction of rotation around the central axis Ax. The second direction D2 is the opposite direction of the first direction D1 and is the other direction of rotation around the central axis Ax. In the example of FIG. 2, the first direction D1 is a counterclockwise direction, and the second direction D2 is a clockwise direction. Note that, when the actuator 22 is a linearly driven device such as a solenoid, the first direction D1 and the second direction D2 are linear directions opposite to each other.

[0020] The actuator 22 of this embodiment is electrically connected to the control unit 2 of Fig. 1. The control unit 2 has a driver that controls the actuator 22. For example, when the control unit 2 applies a voltage to the terminals of the actuator 22, the actuator 22 rotates and drives the drive shaft 22a in the first direction D1 or the second direction D2 in response to the voltage.

[0021] In this embodiment, the palm 12 has a support wall 30, a first outer wall 31, a second outer wall 32, a third outer wall 33, and a plurality of connectors 34. The support wall 30 is attached to the housing 21 of the drive unit 11. The support wall 30 is formed in a plate shape extending substantially parallel to the central axis Ax of the drive shaft 22a. Note that the support wall 30 is not limited to this example. The palm 12 is a member to which each movable finger 13 is connected, and can be referred to as, for example, a base part.

[0022] The first outer wall 31 extends, for example, from the support wall 30 in a direction substantially perpendicular to the support wall 30. The first outer wall 31, the second outer wall 32, and the third outer wall 33 in this embodiment form a part of the front surface (palm) and the back surface (back of the hand) of the hand device 10.

[0023] The first outer wall 31 forms, for example, a portion near the wrist of the hand device 10, a portion near the index finger 13A, and a portion near the middle finger 13B. The second outer wall 32 forms, for example, a portion near the noggin finger 13C of the hand device 10. The third outer wall 33 forms, for example, a portion near the little finger 13D of the hand device 10.

[0024] In this embodiment, the first outer wall 31, the second outer wall 32, and the third outer wall 33 are separated from each other. The second outer wall 32 is connected to the first outer wall 31 by the connector 34. The third outer wall 33 is connected to the first outer wall 31 by the connector 34. The connector 34 is an elastic body having elasticity. Therefore, the first outer wall 31, the second outer wall 32, and the third outer wall 33 are movable relative to each other. The connector 34 may be configured to connect the first outer wall 31, the second outer wall 32, and the third outer wall 33 so that they can move relative to each other. For example, the connector 34 may be constructed of a rigid body such as a universal joint.

[0025] Each of the multiple movable fingers 13 is connected to the palm 12. In this embodiment, the index finger 13A and the middle finger 13B are each connected to the first outer wall 31. The noggin finger 13C is connected to the second outer wall 32. The little finger 13D is connected to the third outer wall 33. The thumb 13E is connected to the support wall 30.

[0026] In this embodiment, the index finger 13A, the middle finger 13B, the nominal finger 13C, and the little finger 13D extend substantially parallel to each other from the tip of the palm 12. The thumb 13E extends from the base of the palm 12. The thumb 13E can move to a position opposing at least one of the index finger 13A, the middle finger 13B, the nominal finger 13C, and the little finger 13D.

[0027] Fig. 3 is a cross-sectional view that shows a schematic diagram of the movable finger 13 of the first embodiment. Fig. 3 shows the index finger 13A as an example. However, in this embodiment, the index finger 13A, the middle finger 13B, the nominal finger 13C, the little finger 13D, and the thumb 13E have substantially the same structure. Therefore, the following description will collectively describe the structures of the movable fingers 13 (the index finger 13A, the middle finger 13B, the nominal finger 13C, the little finger 13D, and the thumb 13E).

[0028] As shown in FIG. 3, each of the multiple movable fingers 13 in this embodiment has a first portion 41, a second portion 42, a third portion 43, a rotating plate 44, a first rod 45, a second rod 46, and a joint 47.

[0029] The first portion 41 of the index finger 13A, the middle finger 13B, the noun finger 13C, and the little finger 13D forms a portion corresponding to the proximal phalanges of the human fingers. The first portion 41 of the thumb 13E forms a portion corresponding to the metacarpal bones of the human hand. In other words, the first portion 41 of each movable finger is the portion of each movable finger 13 that is located closest to the palm 12.

[0030] The second portion 42 of the index finger 13A, the middle finger 13B, the noun finger 13C, and the little finger 13D forms a portion corresponding to the middle phalanges of the human fingers. The second portion 42 of the thumb 13E forms a portion corresponding to the proximal phalanges of the human fingers. In the five movable fingers 13, the third portion 43 forms a portion corresponding to the distal phalanges of the human fingers. That is, the third portion 43 of each movable finger 13 is located at the tip of each movable finger 13, and the second portion 42 of each movable finger 13 is a portion between the first portion 41 and the third portion 43.

[0031] In this embodiment, the second portion 42 and the third portion 43 in the example of Fig. 3 are made of, for example, synthetic resin. Also, the first portion 41 has, for example, a portion made of synthetic resin and a portion made of metal. In the first portion 41, the portion made of metal is covered by the portion made of synthetic resin and protrudes from the portion made of synthetic resin.

[0032] The first portion 41, the second portion 42, and the third portion 43 have base ends 41a, 42a, and 43a, and tip ends 41b, 42b, and 43b, respectively. The base ends 41a, 42a, and 43a are ends of the first portion 41, the second portion 42, and the third portion 43 that are close to the palm 12. The tip ends 41b, 42b, and 43b are ends of the first portion 41, the second portion 42, and the third portion 43 that are far from the palm 12.

[0033] A connecting shaft 51 is provided at a base end 42a of the second portion 42. A tip end 41b of the first portion 41 is rotatably connected to the connecting shaft 51. That is, the connecting shaft 51 is a joint between the first portion 41 and the second portion 42. A connecting shaft 52 is provided at a base end 43a of the third portion 43. A tip end 42b of the second portion 42 is rotatably connected to the connecting shaft 52. That is, the connecting shaft 52 is a joint between the second portion 42 and the third portion 43.

[0034] A connecting shaft 53 is provided at the base end 41a of the first portion 41. The rotating plate 44 and the joint 47 are rotatably attached to the connecting shaft 53. The rotating plate 44 is formed in a substantially triangular shape. One corner portion 44a of the rotating plate 44 is attached to the connecting shaft 53.

[0035] A connecting shaft 55 is provided at the base end 42a of the second portion 42. The connecting shaft 55 is closer to the back of the movable finger 13 than the connecting shaft 51. The first rod 45 is rotatably connected to the other corner portion 44b of the rotating plate 44 and the connecting shaft 55.

[0036] A connecting shaft 56 is provided at the tip end 41b of the first portion 41. The connecting shaft 56 is located between the connecting shaft 51 and the connecting shaft 52. A connecting shaft 57 is provided at the base end 43a of the third portion 43. The connecting shaft 57 is closer to the pad of the movable finger 13 than the connecting shaft 52. The second rod 46 is rotatably connected to the connecting shaft 56 and the connecting shaft 57.

[0037] In this embodiment, the connection shafts 51, 52, 53, 55, 56, and 57 extend substantially parallel to one another, so that the first portion 41, the second portion 42, the third portion 43, the rotating plate 44, the first rod 45, the second rod 46, and the joint 47 are rotatable on a common imaginary plane.

[0038] The joint 47 of this embodiment has a first connection portion 47a and a second connection portion 47b. The first connection portion 47a is connected to a connection axis 53. The second connection portion 47b extends from the first connection portion 47a in a direction substantially perpendicular to the connection axis 53. The second connection portion 47b is attached to the palm 12. This allows the movable finger 13 to rotate around the connection axis 53 and the second connection portion 47b relative to the palm 12. That is, the connection axis 53 is a joint between the first portion 41 and the palm 12. The joint 47 may be a universal joint.

[0039] When the other corner portion 44c of the rotating plate 44 in the movable finger 13 is pulled toward the palm 12, a torque in a rotation direction Dp1 about the connection shaft 53 is applied to the movable finger 13. This allows the movable finger 13 to rotate in the rotation direction Dp1 relative to the palm 12.

[0040] In addition, in the movable finger 13, when the corner portion 44c of the rotating plate 44 is pulled toward the palm 12, a torque in a rotation direction Dp1 around the connection axis 53 is applied to the rotating plate 44. When the rotating plate 44 rotates in the rotation direction Dp1, a torque in the rotation direction Dp1 is applied to the first portion 41, and the first rod 45 pushes the second portion 42. As a result, a torque in a rotation direction Dp2 around the connection axis 51 is applied to the second portion 42. When the second portion 42 rotates in the rotation direction Dp2, the second portion 42 pushes the third portion 43. As a result, a torque in a rotation direction Dp3 around the connection axis 52 is applied to the third portion 43. When the first portion 41, the second portion 42, and the third portion 43 rotate in the rotation directions Dp1, Dp2, and Dp3, the movable finger 13 bends (flexes).

[0041] In this embodiment, the rotation of the movable finger 13 in the rotation direction Dp1 may occur before the rotation of the second portion 42 in the rotation direction Dp2 and the rotation of the third portion 43 in the rotation direction Dp3. When the movable finger 13 rotating in the rotation direction Dp1 abuts against another object or rotates to a predetermined angle, the second portion 42 and the third portion 43 rotate. This allows the movable finger 13 to bend (adapt) to the shape of the object abutting against the movable finger 13. That is, in this embodiment, after a part of the movable finger 13 composed of multiple parts abuts against the object and roughly grasps it, a different part of the movable finger 13 bends and contacts the object, thereby grasping the object more precisely. In addition, the movable finger 13 first makes a first abutment at a part close to the palm 12, and then makes a second abutment at a part close to the tip of the movable finger 13, so that the movable finger 13 can be adapted to the shape of the object without applying a load to the object.

[0042] Furthermore, when the tip 43b of the third portion 43 abuts against an object, the rotation in the rotation direction Dp3 stops, and in conjunction with this, the rotation in the rotation directions Dp2 and Dp1 also stops. As a result, the movable finger 13 can transmit the force of the rotational torque in the rotation direction Dp1 to the object through the tip 43b of the third portion 43 while maintaining a state in which the tip 43b, which is the fingertip of the movable finger 13, abuts against the object.

[0043] In this embodiment, the movable finger 13 is provided with an elastic body that biases the first portion 41, the second portion 42, and the third portion 43 in the opposite direction to the rotation directions Dp1, Dp2, and Dp3. The elastic body is, for example, a torsion spring. The elastic body rotates the first portion 41, the second portion 42, and the third portion 43 in the opposite direction to the rotation directions Dp1, Dp2, and Dp3, thereby extending the movable finger 13.

[0044] The movable finger 13 is not limited to the above-mentioned configuration. For example, the movable finger 13 may be bent by pulling a wire extending inside the movable finger 13, and may be extended by pushing the wire.

[0045] As shown in FIG. 2, the hand device 10 further includes a transmission mechanism 60. The transmission mechanism 60 transmits force between the driving part 23 and the multiple movable fingers 13. In this embodiment, the transmission mechanism 60 transmits force between the driving part 23 driven by the actuator 22 and the rotating plate 44 of the movable fingers 13, thereby allowing the movable fingers 13 to bend or extend. Note that FIG. 2 shows the rotating plate 44 diagrammatically. The transmission mechanism 60 includes a first mechanism 61 and a second mechanism 62.

[0046] In this embodiment, the first mechanism 61 is a link mechanism that connects the driving component 23 and the multiple movable fingers 13. The first mechanism 61 has a first finger link 71, a second finger link 72, a third finger link 73, multiple first intermediate links 74, multiple second intermediate links 75, and multiple flexible members 76. Fig. 2 shows the flexible members 76 diagrammatically by two-dot chain lines.

[0047] One end 71a of the first finger link 71 is rotatably connected to the corner portion 44c of the rotating plate 44 of the index finger 13A by a flexible member 76. The other end 71b of the first finger link 71 is rotatably connected to the corner portion 44c of the rotating plate 44 of the middle finger 13B by a flexible member 76.

[0048] The first finger link 71 and the two flexible members 76 are included in a first mechanical part 61a. The first mechanical part 61a is an example of a first part. The first mechanical part 61a is a part of a first mechanism 61 connected to the index finger 13A and the middle finger 13B.

[0049] One end 72a of the second finger link 72 is rotatably connected to the corner portion 44c of the rotating plate 44 of the nominal finger 13C by a flexible member 76. The other end 72b of the second finger link 72 is rotatably connected to the corner portion 44c of the rotating plate 44 of the little finger 13D by a flexible member 76.

[0050] The second finger link 72 and the two flexible members 76 are included in the second mechanism part 61b. The second mechanism part 61b is an example of a second part. The second mechanism part 61b is connected to the nominal finger 13C and the little finger 13D and is a part of the first mechanism 61.

[0051] One end 73a of the third finger link 73 is rotatably connected to the corner portion 44c of the rotating plate 44 of the thumb 13E by a flexible member 76. The other end 73b of the third finger link 73 is rotatably connected to the middle portion 71c of the first finger link 71 and the middle portion 72c of the second finger link 72 by a plurality of first intermediate links 74.

[0052] The first intermediate links 74 are connected to each other so as to be rotatable. The first intermediate links 74 are branched in the middle to connect the first finger link 71, the second finger link 72, and the third finger link 73 to each other so as to be able to transmit force.

[0053] The middle portion 71c of the first finger link 71 is located between the two ends 71a and 71b. The first finger link 71 can swing around the middle portion 71c. The middle portion 72c of the second finger link 72 is located between the two ends 72a and 72b. The second finger link 72 can swing around the middle portion 72c.

[0054] The second intermediate links 75 are connected to each other so as to be rotatable. The second intermediate links 75 connect the driving component 23 and the intermediate portion 73c of the third finger link 73 so as to be capable of transmitting force to each other. The intermediate portion 73c of the third finger link 73 is located between the two ends 73a, 73b. The third finger link 73 can swing around the intermediate portion 73c.

[0055] The third finger link 73 and the plurality of second intermediate links 75 are included in a third mechanism part 61c. The third mechanism part 61c is an example of a third part. The third mechanism part 61c is connected to the thumb 13E and the driving part 23 and is a part of the first mechanism 61.

[0056] The multiple first intermediate links 74 are included in a fourth mechanical component 61d. The fourth mechanical component 61d is an example of a fourth component. The fourth mechanical component 61d is a part of the first mechanism 61 that is connected to the first mechanical component 61a, the second mechanical component 61b, and the third mechanical component 61c.

[0057] In this embodiment, the second mechanism 62 has a flexible member 78. The flexible member 76 of the first mechanism 61 and the flexible member 78 of the second mechanism 62 are, for example, ball chains. The flexible members 76, 78 may be other flexible members such as chains, strings, bands, and elastic bodies. A rigid body may be used instead of the flexible members 76, 78. A mechanical part that includes a rigid body and is contractible, such as a cylinder, may be used instead of the flexible members 76, 78. The flexible members 76, 78 and the contractible mechanical part are examples of contractible members.

[0058] In the first embodiment, the flexible member 78 connects the driving part 23 and the corner portion 44c of the rotating plate 44 of the index finger 13A. In other words, the index finger 13A is connected in parallel to the driving part 23 by the first mechanism 61 and the second mechanism 62. In the driving part 23, the first mounting portion 23a to which the second intermediate link 75 is connected and the second mounting portion 23b to which the flexible member 78 is connected are spaced apart from each other.

[0059] For example, the first mounting portion 23a and the second mounting portion 23b are spaced apart from each other in the first direction D1. In the example of FIG. 2, the first mounting portion 23a is provided at a position rotated (spaced) 180° around the central axis Ax from the second mounting portion 23b. The distance (radius) between the first mounting portion 23a and the central axis Ax is approximately equal to the distance (radius) between the second mounting portion 23b and the central axis Ax. Note that the first mounting portion 23a and the second mounting portion 23b are not limited to this example.

[0060] 2, a plurality of holes 30a are provided in the support wall 30 of this embodiment. The plurality of second intermediate links 75 of the first mechanism 61 and the flexible member 78 of the second mechanism 62 pass through the holes 30a.

[0061] The actuator 22 drives the drive component 23, whereby the hand device 10 performs a gripping action or a picking action. The gripping action is an example of a first action. The picking action is an example of a second action. The actions of the hand device 10 will be described in detail below.

[0062] Fig. 4 is a side view that illustrates the hand device 10 of the first embodiment. In Fig. 4, the driving part 23 is located at a reference position Pn. The reference position Pn is an example of the first position.

[0063] As shown in Fig. 2, the reference position Pn in this embodiment is a position where the drive shaft 22a, the first mounting portion 23a, and the second mounting portion 23b are substantially in the same position in the longitudinal direction of the hand device 10 (the vertical direction in Fig. 2). Therefore, when the drive part 23 moves from the reference position Pn, the first mounting portion 23a (the second mounting portion 23b) moves closer to the palm 12 and the movable fingers 13, or moves away from the palm 12 and the movable fingers 13. Note that the reference position Pn is not limited to this example. In addition, the positions of the first mounting portion 23a and the second mounting portion 23b are not limited to these positions as long as the intended function can be achieved.

[0064] 4, in this embodiment, when the driving part 23 is located at the reference position Pn, the multiple movable fingers 13 are extended. In other words, when the driving part 23 is located at the reference position Pn, the hand device 10 is open. Note that the movable fingers 13 do not have to extend linearly, and may be slightly curved.

[0065] 5 is a side view showing a schematic diagram of the hand device 10 performing a gripping motion of the first embodiment. In this embodiment, when the driving part 23 is moved from the reference position Pn in the first direction D1, the five movable fingers 13 perform the following gripping motion in response to the driving of the driving part 23 by the actuator 22. In other words, when the driving part 23 is located on the first direction D1 side of the reference position Pn, the five movable fingers 13 perform the gripping motion in response to the movement of the driving part 23. In the gripping motion, the five movable fingers 13 can grip an object.

[0066] In this embodiment, when the actuator 22 drives the driving part 23 from the reference position Pn in the first direction D1, the first attachment part 23a moves away from the palm 12 and the movable fingers 13, and the driving part 23 pulls the first mechanism 61. As a result, the actuator 22 pulls the corner parts 44c of the rotating plates 44 of the five movable fingers 13 via the driving part 23 and the first mechanism 61. In other words, the first mechanism 61 transmits a tensile force between the driving part 23 and the corner parts 44c of the rotating plates 44 of the multiple movable fingers 13. As described above, when the corner parts 44c of the rotating plate 44 are pulled, the five movable fingers 13 are bent as shown in FIG. 5.

[0067] As described above, in this embodiment, the movable fingers 13 can bend to fit (adapt) to the shape of an object. That is, in a gripping motion, the movable fingers 13 bend at least one of the multiple joints to fit the shape of an object that comes into contact with the movable fingers 13 in response to the movement of the driving part 23. This increases the contact area between the movable fingers 13 and the object, allowing the multiple movable fingers 13 to stably grip (grasp, grasp) the object.

[0068] In this embodiment, when the actuator 22 drives the driving part 23 from the reference position Pn in the first direction D1, the second attachment part 23b approaches the palm 12 and the movable finger 13, and the second mechanism 62 approaches the movable finger 13. Since the distance between the second attachment part 23b of the driving part 23 and the index finger 13A becomes shorter, the flexible member 78 of the second mechanism 62 bends. That is, the flexible member 78 of the second mechanism 62 bends while the first mechanism 61 transmits force between the driving part 23 and the multiple movable fingers 13.

[0069] In other words, the second mechanism 62 has a second attachment portion 23b (first coupling portion) provided at one end of the second mechanism 62 and connected to the driving component 23, a portion (second coupling portion) provided at the other end of the second mechanism 62 and connected to the rotating plate 44 of the index finger 13A, and a flexible member 78. The flexible member 78 shortens the distance between the first coupling portion and the second coupling portion while the first mechanism 61 transmits force between the driving component 23 and the movable finger 13.

[0070] As described above, in this embodiment, while the first mechanism 61 transmits force between the driving component 23 and the multiple movable fingers 13, the second mechanism 62 does not transmit force to the movable fingers 13. Furthermore, the bent flexible member 78 avoids the first mechanism 61. Note that force may be applied from the second mechanism 62 to the movable fingers 13.

[0071] In this embodiment, when the driving part 23 is moved in the first direction D1 from the reference position Pn, if the actuator 22 drives the driving part 23 in the second direction D2, the first attachment part 23a approaches the palm 12 and the movable fingers 13, and the first mechanism 61 approaches the movable fingers 13. As a result, the tensile force acting on the movable fingers 13 is released, and the five movable fingers 13 are extended by, for example, the restoring force of an elastic body.

[0072] As described above, in the gripping motion of this embodiment, the driving part 23 is driven in the first direction D1, thereby bending the five movable fingers 13. In addition, the driving part 23 is driven in the second direction D2 after being driven in the first direction D1, thereby extending the five movable fingers 13. That is, in the gripping motion, the five movable fingers 13 open and close.

[0073] In other words, the five movable fingers 13 perform a bending motion, which is a part of the gripping motion, by driving the driving part 23 in the first direction D1 from the reference position Pn. After the driving part 23 is driven in the first direction D1, the driving part 23 is driven in the second direction D2 toward the reference position Pn, by which the five movable fingers 13 perform a stretching motion, which is a part of the gripping motion.

[0074] 6 is a side view that shows a schematic diagram of the hand device 10 performing the pinching operation of the first embodiment. When the driving part 23 is moved from the reference position Pn in the second direction D2, the index finger 13A performs the following pinching operation in response to the driving of the driving part 23 by the actuator 22. In other words, when the driving part 23 is located on the second direction D2 side of the reference position Pn, the index finger 13A performs the pinching operation in response to the movement of the driving part 23. In the pinching operation, the index finger 13A and the thumb 13E can pinch an object.

[0075] In this embodiment, when the actuator 22 drives the driving part 23 from the reference position Pn in the second direction D2, the second attachment part 23b moves away from the palm 12 and the movable finger 13, and the driving part 23 pulls the second mechanism 62. As a result, the actuator 22 pulls the corner portion 44c of the rotating plate 44 of the index finger 13A via the driving part 23 and the second mechanism 62. In other words, the second mechanism 62 transmits a tensile force between the driving part 23 and the corner portion 44c of the rotating plate 44 of the index finger 13A.

[0076] As described above, when corner portion 44c of rotating plate 44 is pulled, index finger 13A bends and approaches thumb 13E as shown in Fig. 6. At this time, index finger 13A rotates around connecting shaft 53 while remaining extended and approaches thumb 13E, unless it comes into contact with another object.

[0077] As described above, in this embodiment, the movable finger 13 can bend in a manner that fits (adapts) to the shape of an object. That is, in a pinching motion, the index finger 13A bends at least one of the multiple joints in a manner that fits the shape of an object that the index finger 13A comes into contact with, in accordance with the movement of the driving part 23. This increases the contact area between the index finger 13A and the object, allowing the index finger 13A to stably pinch the object.

[0078] In the first embodiment, the second mechanism 62 is connected to the index finger 13A. Therefore, even if the actuator 22 drives the driving part 23 from the reference position Pn in the second direction D2, the second mechanism 62 does not pull the middle finger 13B, the index finger 13C, the little finger 13D, and the thumb 13E.

[0079] Furthermore, in this embodiment, when the actuator 22 drives the driving part 23 in the second direction D2, the first attachment part 23a approaches the palm 12 and the movable finger 13, and the first mechanism 61 approaches the movable finger 13. In this case, the flexible member 76 bends and the links of the first mechanism 61 rotate relative to each other. As a result, even if the actuator 22 drives the driving part 23 in the second direction D2 from the reference position Pn, the middle finger 13B, the nominal finger 13C, the little finger 13D, and the thumb 13E remain stationary and extended.

[0080] When the actuator 22 drives the driving part 23 in the first direction D1 while the driving part 23 is being moved in the second direction D2 from the reference position Pn, the second attachment part 23b approaches the palm 12 and the movable finger 13, and the second mechanism 62 approaches the movable finger 13. This causes the flexible member 78 of the second mechanism 62 to bend, and the tensile force acting on the index finger 13A is released. The index finger 13A extends due to the restoring force of the elastic body.

[0081] As described above, in the pinching motion of this embodiment, the driving part 23 is driven in the second direction D2, so that the index finger 13A bends and approaches the stationary thumb 13E. In addition, the driving part 23 is driven in the first direction D1 after being driven in the second direction D2, so that the index finger 13A extends. That is, in the pinching motion, the index finger 13A bends and extends, and the index finger 13A and the thumb 13E open and close.

[0082] In other words, the index finger 13A performs a bending motion, which is a part of the pinching motion, by moving the driving part 23 in the second direction D2 from the reference position Pn. The index finger 13A performs a stretching motion, which is a part of the pinching motion, by driving the driving part 23 in the first direction D1 toward the reference position Pn after being driven in the second direction D2.

[0083] As described above, in this embodiment, at least one combination of the multiple movable fingers 13 performing the gripping motion is different from at least one combination of the multiple movable fingers 13 performing the pinching motion. The combination of the movable fingers 13 performing the gripping motion is the index finger 13A, the middle finger 13B, the noggin finger 13C, the little finger 13D, and the thumb 13E. The combination of the movable fingers 13 performing the pinching motion is the index finger 13A.

[0084] In the hand device 10 according to the first embodiment described above, when the driving part 23 is moved from the reference position Pn in the first direction D1, at least one of the multiple movable fingers 13 performs a first action (gripping action) in response to the movement of the driving part 23. Furthermore, when the driving part 23 is moved from the reference position Pn in the second direction D2, at least one of the multiple movable fingers 13 performs a second action (picking action) different from the first action in response to the movement of the driving part 23. As a result, in the hand device 10 of this embodiment, the movable fingers 13 can perform multiple types of actions by one actuator 22. Therefore, for example, multiple actuators for multiple types of actions and sensors for complex control are not required, and an increase in the cost of the hand device 10 is suppressed. In addition, input in the hand device 10 can be unified, improving the operability of the hand device 10.

[0085] At least one combination of the multiple movable fingers 13 performing the first motion is different from at least one combination of the multiple movable fingers 13 performing the second motion. That is, the hand device 10 can perform the first motion and the second motion that are qualitatively different. This increases the number of situations in which the hand device 10 can be utilized.

[0086] In a first motion, the driving part 23 is moved in a first direction D1, causing the multiple movable fingers 13 to bend. For example, the multiple movable fingers 13 can grasp an object. In a second motion, the driving part 23 is moved in a second direction D2, causing the index finger 13A to approach the thumb 13E. For example, at least two movable fingers 13 can pinch an object. This allows the hand device 10 to pick up the object in multiple ways depending on various conditions, such as the size and shape of the object, the situation, and the demand.

[0087] In the second motion, the driving part 23 is moved in the second direction D2, so that the index finger 13A approaches the stationary thumb 13E. This makes it easier to control the positions of the index finger 13A and the thumb 13E, for example, and increases the repeatability of pinching an object by the second motion.

[0088] In the second operation, the driving part 23 is moved in the second direction D2, so that the index finger 13A approaches the thumb 13E and then bends. This allows the index finger 13A to bend in a manner that fits (adapts) to the shape of an object, and the object can be stably picked up.

[0089] The movable finger 13 that moves in the second motion is the index finger 13A. The movable finger 13 that the index finger 13A approaches in the second motion is the thumb 13E that can move to a position opposite the other movable fingers 13. This allows the hand device 10 in the shape of a human hand to pick up an object by a first motion of grasping an object with the five movable fingers 13 and a second motion of pinching the object with the index finger 13A and the thumb 13E.

[0090] The first mechanism 61 connects the driving component 23 and the multiple movable fingers 13. The second mechanism 62 connects the driving component 23 and one of the multiple movable fingers 13. For example, the first mechanism 61 transmits a force between the driving component 23 and the multiple movable fingers 13, so that the multiple movable fingers 13 can perform a first operation. Furthermore, the second mechanism 62 transmits a force between the driving component 23 and one of the multiple movable fingers 13, so that one movable finger 13 can perform a second operation. This allows the movable finger 13 to perform multiple types of operations by one actuator 22. Furthermore, the loss of power between the driving component 23 and the movable fingers 13 during the second operation is suppressed, and the reduction in the rigidity of the second mechanism 62 is suppressed.

[0091] The second mechanism 62 has a first coupling part provided at one end of the second mechanism 62, a second coupling part provided at the other end of the second mechanism 62, and a flexible member 78. The first coupling part is connected to the driving part 23. The second coupling part is connected to the index finger 13A. The flexible member 78 can shorten the distance between the first coupling part and the second coupling part while the first mechanism 61 transmits force between the driving part 23 and the multiple movable fingers 13. This suppresses the second mechanism 62 from affecting the gripping action. Furthermore, the second mechanism 62 is suppressed from interfering with the first mechanism 61 undesirably.

[0092] The second mechanism 62 may have a rigid body instead of the flexible member 78. In this case, the rigid body generates a tensile force in one direction on the other component. On the other hand, the rigid body does not apply a force in the other direction to the other component or reduces the force by causing slippage or misalignment. Also, the second mechanism 62 may have a mechanism component that includes a rigid body and is contractible, such as a cylinder, instead of the flexible member 78. Note that the second mechanism 62 is not limited to this example.

[0093] Second Embodiment The second embodiment will be described below with reference to Figures 7 and 8. In the following description of the embodiments, components having the same functions as components already described are given the same reference numerals as the components already described, and further description may be omitted. Also, components given the same reference numerals do not necessarily have all the same functions and properties, and may have different functions and properties according to each embodiment.

[0094] Fig. 7 is a plan view showing a schematic diagram of the inside of the hand device 10 according to the second embodiment. As shown in Fig. 7, in the second embodiment, the flexible member 78 of the second mechanism 62 connects the driving part 23 and the intermediate part 71c of the first finger link 71. In other words, the flexible member 78 connects the driving part 23 and a part of the first mechanism 61 connected to the index finger 13A and the middle finger 13B.

[0095] 8 is a side view showing a schematic diagram of the hand device 10 performing the pinching operation of the second embodiment. In the pinching operation of the second embodiment, when the actuator 22 drives the driving part 23 from the reference position Pn in the second direction D2, the second attachment part 23b moves away from the palm 12 and the movable finger 13, and the driving part 23 pulls the second mechanism 62. The second mechanism 62 pulls the corner part 44c of the rotating plate 44 of the index finger 13A and the middle finger 13B via the first finger link 71.

[0096] In this embodiment, when the corner portion 44c of the rotating plate 44 is pulled, the index finger 13A and the middle finger 13B bend and approach the thumb 13E as shown in Fig. 8. At this time, unless the index finger 13A and the middle finger 13B come into contact with another object, they rotate around the connecting shaft 53 while remaining extended and approach the thumb 13E.

[0097] In the second embodiment, the second mechanism 62 is connected to the first finger link 71. Therefore, even if the actuator 22 drives the driving part 23 from the reference position Pn in the second direction D2, the second mechanism 62 does not pull the nominal finger 13C, the little finger 13D, and the thumb 13E. The nominal finger 13C, the little finger 13D, and the thumb 13E are, for example, stationary in an extended state.

[0098] When the actuator 22 drives the driving part 23 in the first direction D1 while the driving part 23 is being moved in the second direction D2 from the reference position Pn, the second attachment part 23b approaches the palm 12 and the movable finger 13, and the second mechanism 62 approaches the movable finger 13. As a result, in this embodiment, the flexible member 78 of the second mechanism 62 bends, and the tensile force acting on the index finger 13A and the middle finger 13B is released. The index finger 13A and the middle finger 13B extend due to the restoring force of the elastic body.

[0099] As described above, in the pinching motion of the second embodiment, the driving part 23 is driven in the second direction D2, so that the index finger 13A and the middle finger 13B bend and approach the stationary thumb 13E. In addition, the driving part 23 is driven in the first direction D1 after being driven in the second direction D2, so that the index finger 13A and the middle finger 13B extend. That is, in the pinching motion, the index finger 13A and the middle finger 13B bend and extend, and the index finger 13A and the middle finger 13B open and close with the thumb 13E.

[0100] In the hand device 10 of the second embodiment described above, the first mechanism 61 connects the driving component 23 and the multiple movable fingers 13. The second mechanism 62 connects a part of the first mechanism 61 connected to at least one of the multiple movable fingers 13 and the driving component 23. For example, the first mechanism 61 transmits a force between the driving component 23 and the multiple movable fingers 13, so that the multiple movable fingers 13 can perform a first motion (gripping motion). Furthermore, the second mechanism 62 transmits a force between a part of the first mechanism 61 and the driving component 23, so that at least one of the multiple movable fingers 13 can perform a second motion (picking motion). In other words, in the second motion, the second mechanism 62 partially operates the first mechanism 61. This allows the movable fingers 13 to perform multiple types of motions by one actuator 22. Furthermore, the second mechanism 62 can be shortened, and unwanted interference between the second mechanism 62 and the first mechanism 61 is suppressed.

[0101] (Third embodiment) The third embodiment will be described below with reference to Figs. 9 and 10. Fig. 9 is a plan view that typically illustrates the inside of a hand device 10 according to a third embodiment. As illustrated in Fig. 9, in the third embodiment, a flexible member 78 of a second mechanism 62 connects a driving part 23 and an end 73a of a third finger link 73. In other words, the flexible member 78 connects a part of a first mechanism 61 connected to a plurality of movable fingers 13 and a driving part 23.

[0102] 10 is a side view showing a schematic diagram of the hand device 10 performing the picking operation of the third embodiment. In the picking operation of the third embodiment, when the actuator 22 drives the driving part 23 from the reference position Pn in the second direction D2, the second mounting part 23b moves away from the palm 12 and the movable fingers 13, and the driving part 23 pulls the second mechanism 62. The second mechanism 62 pulls the corner portion 44c of the rotating plate 44 of the five movable fingers 13 via the third finger link 73, the first intermediate link 74, the first finger link 71, and the second finger link 72.

[0103] In this embodiment, the second mechanism 62 pulls the end 73a of the third finger link 73. In this case, the pulling force from the second mechanism 62 is strongly transmitted to the index finger 13A, the middle finger 13B, and the thumb 13E, and weakly transmitted to the nominal finger 13C and the little finger 13D. Therefore, the corner portion 44c of the rotating plate 44 of the index finger 13A, the middle finger 13B, and the thumb 13E is pulled, and as shown in FIG. 10, the index finger 13A, the middle finger 13B, and the thumb 13E bend and approach each other. At this time, the index finger 13A, the middle finger 13B, and the thumb 13E rotate around the connecting shaft 53 while remaining extended and approach each other unless they come into contact with other objects. The nominal finger 13C and the little finger 13D may also bend.

[0104] When the actuator 22 drives the driving part 23 in the first direction D1 while the driving part 23 is being moved in the second direction D2 from the reference position Pn, the second attachment part 23b approaches the palm 12 and the movable fingers 13, and the second mechanism 62 approaches the movable fingers 13. This causes the flexible member 78 of the second mechanism 62 to bend, and the tensile force acting on the five movable fingers 13 is released. The five movable fingers 13 extend due to the restoring force of the elastic body.

[0105] As described above, in the pinching motion of the third embodiment, the driving part 23 is moved in the second direction D2, so that the index finger 13A, the middle finger 13B, and the thumb 13E bend and approach each other. In addition, the driving part 23 is driven in the second direction D2 and then moved in the first direction D1, so that the index finger 13A, the middle finger 13B, and the thumb 13E extend. That is, in the pinching motion, the index finger 13A, the middle finger 13B, and the thumb 13E bend and extend, and the index finger 13A and the middle finger 13B open and close with the thumb 13E.

[0106] In the hand device 10 of the third embodiment described above, in the second operation (picking operation), the driving part 23 is moved in the second direction D2, so that the index finger 13A and the thumb 13E approach each other. This allows the hand device 10 to pick up an object in a shorter time by the second operation. Furthermore, since the thumb 13E moves, it is not necessary to place the thumb 13E in a position where it is easy to approach the index finger 13A in advance. Therefore, when the driving part 23 is located at the reference position Pn, the distance between the index finger 13A and the thumb 13E can be set long. If the distance between the index finger 13A and the thumb 13E is long when the driving part 23 is located at the reference position Pn, the hand device 10 can pick up a larger object.

[0107] (Fourth embodiment) The fourth embodiment will be described below with reference to Figs. 11 and 12. Fig. 11 is a plan view that shows a schematic view of the inside of a hand device 10 according to the fourth embodiment. As shown in Fig. 11, in the fourth embodiment, the second mechanism 62 has a link 100, a first flexible member 101, and a second flexible member 102 instead of the flexible member 78. In this embodiment, the first flexible member 101 and the second flexible member 102 are flexible members such as ball chains. Note that, instead of the first flexible member 101 and the second flexible member 102, a mechanical part that includes a rigid body and is contractible, such as a cylinder, may be used.

[0108] In this embodiment, one end 100a of the link 100 is rotatably connected to the end 73a of the third finger link 73. The first flexible member 101 is rotatably connected to the other end 100b of the link 100 and to the end 71a of the first finger link 71. The second flexible member 102 is rotatably connected to the middle portion 100c of the link 100 and to the second mounting portion 23b of the driving component 23. The middle portion 100c of the link 100 is located between the two ends 100a, 100b.

[0109] In other words, the end 100a of the link 100 is connected to the third mechanical component 61c. The first flexible member 101 is connected to the end 100b of the link 100 and the first mechanical component 61a. As described above, the second mechanism 62 of the fourth embodiment is connected to the first mechanical component 61a, the third mechanical component 61c, and the driving component 23.

[0110] In the pinching operation of the fourth embodiment, when the actuator 22 drives the driving part 23 from the reference position Pn in the second direction D2, the second mounting part 23b moves away from the palm 12 and the movable finger 13, and the driving part 23 pulls the second mechanism 62. The second mechanism 62 pulls the corner portion 44c of the rotating plate 44 of the thumb 13E via the third finger link 73, and also pulls the corner portions 44c of the rotating plate 44 of the index finger 13A and the middle finger 13B via the third finger link 73, the first intermediate link 74, and the first finger link 71.

[0111] The second mechanism 62 pulls the end 71a of the first finger link 71 and the end 73a of the third finger link 73. In this embodiment, the pulling force from the second mechanism 62 is strongly transmitted to the index finger 13A, the middle finger 13B, and the thumb 13E, and weakly transmitted to the nominal finger 13C and the little finger 13D. Therefore, the corner portion 44c of the rotating plate 44 of the index finger 13A, the middle finger 13B, and the thumb 13E is pulled, and the index finger 13A, the middle finger 13B, and the thumb 13E bend and approach each other. At this time, the index finger 13A, the middle finger 13B, and the thumb 13E rotate around the connecting shaft 53 while remaining extended and approach each other unless they come into contact with other objects. The nominal finger 13C and the little finger 13D may also bend.

[0112] When the actuator 22 drives the driving part 23 in the first direction D1 while the driving part 23 is being moved in the second direction D2 from the reference position Pn, the second attachment part 23b approaches the palm 12 and the movable fingers 13, and the second mechanism 62 approaches the movable fingers 13. This causes the flexible member 78 of the second mechanism 62 to bend, and the tensile force acting on the five movable fingers 13 is released. The five movable fingers 13 extend due to the restoring force of the elastic body.

[0113] As described above, in the pinching motion of the fourth embodiment, the driving part 23 is driven in the second direction D2, so that the index finger 13A, the middle finger 13B, and the thumb 13E bend and move closer to each other. Also, the driving part 23 is driven in the first direction D1, so that the index finger 13A, the middle finger 13B, and the thumb 13E extend. That is, in the pinching motion, the index finger 13A, the middle finger 13B, and the thumb 13E bend and extend, and the index finger 13A and the middle finger 13B open and close with the thumb 13E.

[0114] Fig. 12 is a plan view showing the inside of the hand device 10 according to a modified example of the fourth embodiment. As shown in Fig. 12, the first flexible member 101 may be connected to the middle part 71c of the first finger link 71 instead of the end part 71a of the first finger link 71. In the example of Fig. 11, the tensile force acting on the index finger 13A is stronger than the tensile force acting on the middle finger 13B. In the example of Fig. 12, the difference between the tensile force acting on the index finger 13A and the tensile force acting on the middle finger 13B is smaller than that in the example of Fig. 11.

[0115] As another modification, the first flexible member 101 may be connected to, for example, the corner portion 44c of the rotating plate 44. In this case, when the actuator 22 drives the driving part 23 from the reference position Pn in the second direction D2, the index finger 13A and the thumb 13E bend and approach each other. Also, as another modification, the link 100 and the third finger link 73 may not be rotatably connected, and one end 100a of the link 100 and the corner portion 44c of the rotating plate 44 of the thumb 13E may be connected by another flexible member 76.

[0116] In the hand device 10 of the fourth embodiment described above, the first mechanism 61 has a first mechanism part 61a connected to the index finger 13A, a second mechanism part 61b connected to at least one of the no-finger 13C and the little finger 13D, a third mechanism part 61c connected to the thumb 13E and the driving part 23, and a fourth mechanism part 61d connected to the first mechanism part 61a, the second mechanism part 61b, and the third mechanism part 61c. For example, when the driving part 23 pulls the third mechanism part 61c, the index finger 13A, the thumb 13E, and at least one of the no-finger 13C and the little finger 13D are pulled and bent. The second mechanism 62 is connected to the first mechanism part 61a, the third mechanism part 61c, and the driving part 23. For example, the driving part 23 pulls the second mechanism 62, so that the index finger 13A and the thumb 13E are pulled closer to each other. This allows a force to be transmitted from the driving part 23 to the index finger 13A and the thumb 13E via the second mechanism 62, improving the interlocking of the index finger 13A and the thumb 13E in the second motion.

[0117] Fifth embodiment The fifth embodiment will be described below with reference to Figs. 13 and 14. Fig. 13 is a plan view that shows a schematic view of the inside of a hand device 10 according to one example of the fifth embodiment. The example of Fig. 13 is also a modified example of the first embodiment. In the example of Fig. 13, the second mechanism 62 has a flexible member 111. The flexible member 111 is a flexible member such as a ball chain. The flexible member 111 connects the driving part 23 and the end 73a of the third finger link 73. Note that instead of the flexible member 111, a mechanical part that includes a rigid body and is contractible, such as a cylinder, may be used.

[0118] For example, when the driving part 23 is located at the reference position Pn, the flexible member 111 is taut, but the flexible member 78 is bent. Therefore, when the driving part 23 is driven from the reference position Pn in the second direction D2, the flexible member 111 can transmit the tensile force before the flexible member 78.

[0119] When the drive part 23 driven in the second direction D2 reaches the change position Pc, the flexible member 78 also becomes taut. This enables the flexible member 78 to transmit a tensile force. The change position Pc is an example of the second position. Fig. 13 shows the second mounting part 23b and the flexible member 78 located at the change position Pc imaginarily by a two-dot chain line.

[0120] In the fifth embodiment, the pinching motion includes a front stage motion and a rear stage motion. The front stage motion is an example of a first stage motion. The rear stage motion is an example of a second stage motion. Note that the gripping motion may include the first stage motion and the second stage motion.

[0121] When the driving part 23 is between the reference position Pn and the changed position Pc, the index finger 13A, the middle finger 13B, and the thumb 13E perform the pre-stage movement in response to the movement of the driving part 23. In the example of Fig. 13, in the pre-stage movement, the index finger 13A, the middle finger 13B, and the thumb 13E approach each other or extend, similarly to the pinching movement of the third embodiment.

[0122] When the driving part 23 is moved from the reference position Pn in the second direction D2, the index finger 13A performs the later stage movement in response to the movement of the driving part 23. In the example of Fig. 13, in the later stage movement, the index finger 13A approaches the thumb 13E or extends, similarly to the pinching movement in the first embodiment.

[0123] FIG. 14 is a plan view showing the inside of the hand device 10 according to another example of the fifth embodiment. The example of FIG. 14 is also a modified example of the fourth embodiment. In the example of FIG. 14, the second mechanism 62 has a flexible member 112. The flexible member 112 is a flexible member such as a ball chain. The flexible member 112 connects the driving part 23 and the corner part 44c of the rotating plate 44 of the thumb 13E. Note that instead of the flexible member 112, a mechanical part that includes a rigid body and is contractible, such as a cylinder, may be used.

[0124] For example, when the driving part 23 is located at the reference position Pn, the flexible member 112 is taut, but the second flexible member 102 is bent. Therefore, when the driving part 23 is driven from the reference position Pn in the second direction D2, the flexible member 112 can transmit the tensile force before the second flexible member 102.

[0125] When the driving part 23 driven in the second direction D2 reaches the change position Pc, the second flexible member 102 is also stretched. This enables the second flexible member 102 to transmit a tensile force. Fig. 14 shows the second mounting part 23b and the second flexible member 102 located at the change position Pc imaginarily by two-dot chain lines.

[0126] 14, in the first stage operation, when the actuator 22 drives the driving part 23 in the second direction D2, the second mounting part 23b moves away from the palm 12 and the movable finger 13, and the driving part 23 pulls the corner part 44c of the rotating plate 44 of the thumb 13E. As a result, the thumb 13E bends. In the second stage operation, the index finger 13A, the middle finger 13B, and the thumb 13E move closer to each other, as in the pinching operation of the fourth embodiment.

[0127] As described above, in the fifth embodiment, the thumb 13E bends in the first stage of motion. Then, the index finger 13A approaches the thumb 13E in the second stage of motion. In this manner, the pinch motion changes while the actuator 22 drives the driving part 23 in the second direction D2.

[0128] In the hand device 10 of the fifth embodiment described above, the second operation (picking operation) includes a first stage operation and a second stage operation different from the first stage operation. When the driving part 23 is between the reference position Pn and the change position Pc, at least one of the multiple movable fingers 13 performs the above-mentioned first stage operation in response to the movement of the driving part 23. When the driving part 23 is moved from the change position Pc in the second direction D2, at least one of the multiple movable fingers 13 performs the above-mentioned second stage operation in response to the movement of the driving part 23. As a result, in the hand device 10 of this embodiment, the movable fingers 13 can perform at least three types of operations by one actuator 22.

[0129] As described in the above embodiments, the driving component 23 is connected to the multiple movable fingers 13 by the first mechanism 61, and is connected to at least one movable finger 13 by the second mechanism 62. By changing the position to which the second mechanism 62 is connected, the second operation can be changed.

[0130] In addition, in the above embodiments, an example of the first motion is a gripping motion, and an example of the second motion is a pinching motion. However, the first motion and the second motion are not limited to this example. For example, the first motion and the second motion may include any one of a motion of extending the index finger 13A and bending the other four movable fingers 13, a motion of extending the thumb 13E and bending the other four movable fingers 13, and a motion of moving the index finger 13A and the middle finger 13B closer to each other. In addition, the first motion and the second motion are not limited to a motion for picking up an object. For example, the first motion and the second motion may include any one of a motion for pressing a button and a motion for communication.

[0131] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the above-mentioned individual embodiments. Various additions, modifications, replacements, partial deletions, etc. are possible within the scope of the conceptual idea and intent of the present invention derived from the contents defined in the claims and their equivalents. For example, in all the above-mentioned embodiments, when numerical values ​​or formulas are used in the explanation, they are shown as examples and are not limited to these. In addition, the order of each operation in the embodiments is shown as an example and is not limited to these.

[0132] For example, in the above embodiment, the physical hand device 10 is driven by the actuator 22 in reality, and can grasp or pick up a physical object.

[0133] An operation plan for the hand device 10 regarding the driving of the hand device 10 and an operation plan regarding the driving of various objects and movements related to the hand device 10 (for example, the arm of the robot 1) may be set by a machine learning model. Also, for example, information on an object to be operated may be acquired by an imaging device such as a camera provided in the robot 1 or the environment, and a first operation or a second operation may be selected based on the information. For example, the type, size, material, etc. of the object may be determined from an image by a machine learning model, and an appropriate operation for the object may be selected from the first operation or the second operation by another machine learning model, an operation plan may be created, and the robot may be driven.

Claims

1. A plurality of movable fingers; a drive part movable in a first direction and in a second direction opposite the first direction; a transmission mechanism for transmitting force between the driving component and the plurality of movable fingers; Equipped with when the driving component moves in the first direction from a first position, at least one of the plurality of movable fingers performs a first motion in response to the movement of the driving component; When the driving part moves in the second direction from the first position, at least one of the plurality of movable fingers performs a second movement different from the first movement in response to the movement of the driving part. A mechanism with multiple fingers.

2. 2. The mechanism with multiple fingers of claim 1, wherein a combination of at least one of the multiple movable fingers performing the first movement is different from a combination of at least one of the multiple movable fingers performing the second movement.

3. the plurality of movable fingers includes a first finger and a second finger, In the first movement, the plurality of movable fingers are bent, In the second movement, the first finger approaches the second finger.

3. The multi-fingered mechanism of claim 1 or 2.

4. 4. The multi-finger mechanism of claim 3, wherein in said second movement, said first finger moves toward said stationary second finger.

5. 4. The multi-finger mechanism of claim 3, wherein in said second movement, said first finger and said second finger move toward each other.

6. 6. The mechanism having multiple fingers according to claim 3, wherein in the second movement, the first finger bends after approaching the second finger.

7. the first finger is an index finger, The plurality of movable fingers includes a middle finger, a noun finger, and a pinky finger, The second finger is a thumb that can be moved to a position opposite the other movable fingers.

7. A multi-finger mechanism according to any one of claims 3 to 6.

8. the transmission mechanism includes a first mechanism and a second mechanism, the first mechanism connects the drive component and the plurality of movable fingers; the second mechanism connects the drive component to one of the plurality of movable fingers; 8. A multi-finger mechanism according to any one of claims 1 to 7.

9. the transmission mechanism includes a first mechanism and a second mechanism, the first mechanism connects the drive component and the plurality of movable fingers; The second mechanism connects a part of the first mechanism connected to at least one of the plurality of movable fingers and the driving component.

8. A multi-finger mechanism according to any one of claims 1 to 7.

10. the first finger is an index finger, The plurality of movable fingers includes a middle finger, a noun finger, and a pinky finger, the second finger is a thumb movable to a position opposite the other movable fingers, the transmission mechanism includes a first mechanism and a second mechanism, The first mechanism includes a first part connected to the index finger, a second part connected to at least one of the noun finger and the little finger, a third part connected to the thumb and the driving part, and a fourth part connected to the first part, the second part, and the third part, and connects the driving part to the plurality of movable fingers; the second mechanism is connected to the first component, the third component, and the drive component; 6. The multi-fingered mechanism of claim 5.

11. 11. The mechanism having multiple fingers according to claim 8, wherein the second mechanism comprises: a first coupling portion provided at one end of the second mechanism and connected to the driving component; a second coupling portion provided at the other end of the second mechanism and connected to the one of the plurality of movable fingers; and a contraction member capable of shortening a distance between the first coupling portion and the second coupling portion while the first mechanism is transmitting force between the driving component and the plurality of movable fingers.

12. The second operation includes a first stage operation and a second stage operation different from the first stage operation, when the driving component is between the first position and the second position, at least one of the plurality of movable fingers performs the first stage movement in response to the movement of the driving component; When the driving component moves in the second direction from the second position, at least one of the plurality of movable fingers performs the second stage movement in response to the movement of the driving component.

12. A multi-finger mechanism according to any one of claims 1 to 11.

13. Each of the plurality of movable fingers has a plurality of joints, In at least one of the first motion and the second motion, at least one of the plurality of movable fingers bends at least one of the plurality of joints in accordance with a shape of an object in contact with at least one of the movable fingers in response to a movement of the driving part.

13. A multi-finger mechanism according to any one of claims 1 to 12.

14. When the drive component is in the first position, the plurality of movable fingers are extended.

14. A multi-finger mechanism according to any one of claims 1 to 13.

15. Further comprising an actuator for moving the drive component.

15. A multi-finger mechanism according to any one of claims 1 to 14.

16. 16. A device having a multi-finger mechanism according to any one of claims 1 to 15.

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