ROBOT HAND DEVICE, GRIP DEVICE, AND JOINT OPERATING METHOD IN ROBOT HAND DEVICE

Abstract

To provide a robot hand device, a gripping device and a joint motion method in a robot hand device which can execute gripping motion of finger joints which is suitable to an object, by regulating a rotation direction of the finger joints.SOLUTION: The robot hand device is provided with bending / driving means 21 that bends finger joints A-C of a joint mechanism 20 and rotation adjusting mechanisms 22, provided in rotating portions of the finger joints A-C, which adjust respective rotation of the finger joints A-C by the bending / driving means 21, where the rotation adjusting mechanisms 22 comprise regulating members 23 that regulate the finger joints A-C from rotating in a predetermined direction by applying voltages.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robot hand device, a gripping device, and a joint operation method for a robot hand device, which are capable of bending phalanges that perform operations similar to those of human fingers in a stepwise manner according to the shape and state of an object. [Background technology]

[0002] A typical five-fingered robot hand is often attached to a multi-jointed robot arm and operated in an integrated environment so that it can perform the same movements as a human. In such a robot hand, the fingers must be bent appropriately depending on the shape (flat, curved, angular, round, etc.) and condition (hard, soft, brittle, pinched with fingertips, etc.) of the object to be grasped.

[0003] As technologies relating to this type of robot, the technologies described in Patent Documents 1 and 2 are disclosed. The robot hand shown in Patent Document 1 has fingers whose outer shape is formed by a group of wires in which a plurality of loop-shaped elastic wires are arranged at predetermined intervals, a motor (e.g., a servo motor, a stepping motor, or a combination of a motor and gears) for driving the joints, and a displacement sensor installed around the tip of the group of wires for detecting the load when it comes into contact with an object. The control unit of the robot hand then controls a motor to bend the phalanx in response to the load around the tip of the wire group detected by a displacement sensor.

[0004] The robot hand shown in Patent Document 2 is equipped with an elastic part provided in the finger body part where a gripping force acts when the fingers grip an object, and a tactile sensor provided at each joint that detects the reaction force when the joint is bent. In this robot hand, the joints of the fingers are bent in sequence by energizing a plurality of motors for each joint in the fingers in sequence starting from the base of the finger. In this case, with this robot hand, the fingers are bent in sequence from the joints at the base to grasp the object by enveloping it, thereby preventing strong localized irritation from being applied to the object and enabling a soft and reliable grasping action. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-160022 [Patent Document 2] JP 2018-001359 A [Patent Document 3] JP 2005-046980 A Summary of the Invention [Problem to be solved by the invention]

[0006] Incidentally, in the robot hands shown in Patent Documents 1 and 2, the phalanges / joints are bent by controlling the drive of a motor, but it is difficult to achieve fine control over the order in which the phalanges / joints move and the degree of bending, etc., and it is difficult to point the fingers in the optimal direction to grasp objects of various shapes. Furthermore, Patent Document 3 discloses a configuration in which a torque limiter is provided in the power transmission system, but the use of a torque limiter is limited to simply preventing the transmission of excessive torque to prevent damage to the object, and is not a sufficient mechanism for achieving the purpose of appropriately bending the phalanges according to the shape (flat, curved, square, round, etc.) and condition (hard, soft, brittle, pinched with fingertips, etc.) of the object as described above.

[0007] The present invention has been made in consideration of the above-mentioned circumstances, and has an object to provide a robot hand device and a robot hand operation method that are capable of performing a grasping operation with phalanges that is suitable for an object. [Means for solving the problem]

[0008] In order to solve the above problems, the present invention proposes the following means. A robot hand device according to a first aspect of the present invention has a plurality of rotatably connected phallangs, each of which constitutes a finger part, and is equipped with a joint mechanism in which the finger parts are rotatably connected to a hand main body, bending drive means for bending the phallangs of the joint mechanism, and a rotation adjustment mechanism provided at a rotation point of the phallangs for adjusting the rotation of each of the phallangs by the bending drive means, wherein the rotation adjustment mechanism has a restricting member for restricting the rotation of the finger parts in a predetermined direction.

[0009] A joint operating method according to a second aspect of the present invention is provided in a robot hand device having a joint mechanism in which a plurality of phalanges are rotatably connected to form finger parts, and the finger parts are also rotatably connected to a hand main body, the method comprising the steps of: a bending drive step of bending the phalanges of the joint mechanism; and a rotation direction regulating step of regulating the rotation of the phalanges by the bending drive step to a predetermined direction. Effect of the Invention

[0010] According to the present invention, by regulating the direction of rotation at the rotation point of the phalanges, it is possible to perform fine grasping operations of the phalanges that are suitable for the shape and condition of the object (hard, soft, brittle, pinched with the fingertips, etc.). [Brief description of the drawings]

[0011] [Figure 1] FIG. 2 is a side view showing a minimum configuration of a robot hand device according to the present invention. [Diagram 2] 1 is a perspective view showing the overall appearance of a robot hand device according to an embodiment of the present invention; [Diagram 3] 1 is a side view showing a configuration of one finger of a robot hand device according to an embodiment; FIG. 2 is a schematic configuration diagram showing finger parts of the robot hand device according to an embodiment; [Figure 4]4 is an explanatory diagram of the movement of one finger shown in FIG. 3, in which (a) shows an extended state, (b) shows a state where bending has started, and (c) shows a state where bending has ended. [Diagram 5] 4 is an explanatory diagram of the movement of one finger shown in FIG. 3, (a), (b), (c), and (d) showing steps from a linearly extended state to a fully bent state. [Figure 6] 4 is an explanatory diagram of the operation of grasping an object from above and below by the robot hand device shown in FIG. 3, in which (a) shows the extended and positioned state, (b) shows the state at the beginning of grasping, and (c) shows the state at the end of grasping. [Figure 7] FIG. 2 is a vertical cross-sectional view of a robot hand device according to an embodiment. [Figure 8] 1A is a cross-sectional view including an axis of a rotation adjustment mechanism of a robot hand device according to one embodiment, in which (a) shows a rotation-restricted state in which the operating member is retracted, and (b) shows a rotatable state in which the operating member is protruded due to application of electricity. [Figure 9] 1A shows a cross section perpendicular to the axis of a robot hand device in one embodiment, where (a) shows a rotating state, (b) shows a rotation restricted state, and (c) shows a restricted state. [Figure 10] 10 is an enlarged view for explaining the operation of the satellite roller by the operating member shown in FIG. 9, in which (a) shows the state in which the operating member pushes the satellite roller to release the lock, and (b) shows the state in which the operating member is retracted and the satellite roller comes into contact with the support hole and is locked. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] An example of the minimum configuration of a robot hand device 100 according to the present invention will be described with reference to FIG. The robot hand device 100 has a plurality of rotatably connected phallangs A, B, C, which constitute a finger part 10 corresponding to any finger of a human hand. The robot hand device 100 is also equipped with a joint mechanism 20 to which the finger part 10 is rotatably connected to a hand main body, bending drive means 21 for bending the phallangs A, B, C of the joint mechanism 20, and a rotation adjustment mechanism 22 provided at a rotation point of the phallangs for adjusting the rotation of each of the phallangs A, B, C by the bending drive means 21. The rotation adjustment mechanism 22 has a restricting member 23 for restricting the rotation of the finger part 10 to a predetermined direction.

[0013] According to the robot hand device configured as described above, when the bending drive means 21 drives the fingers A, B, and C, the rotation of any one of the fingers A, B, and C is restricted in one direction by the rotation adjustment mechanism 22, thereby restricting the mutual rotation of the fingers A, B, and C. This restriction of rotation limits the relative angle between them under a predetermined restriction, and the object can be grasped while being adjusted to a state suitable for its shape and state (hard, soft, brittle, pinched with fingertips, etc.).

[0014] Furthermore, the joint operation method according to the minimum configuration example of the present invention is characterized in that, in a robot hand device 100 having a plurality of rotatably connected interphalanges A, B, C, each of which constitutes a finger part 10, and including a joint mechanism 20 in which the finger parts 10 are also rotatably connected to a hand main body, the method includes a bending drive step of bending the interphalanges A, B, C of the joint mechanism 20, and a rotation direction restriction step of restricting the rotation of the interphalanges A, B, C by the bending drive step to a predetermined direction.

[0015] According to the joint operation method configured as described above, when driving the phalanges A, B, C in the bending driving step, the rotation direction regulating step can regulate the mutual rotation of the phalanges A, B, C. By restricting the relative angles between them through this rotation regulation, it is possible to grasp an object while adjusting the mutual angles of the phalanges A, B, C to a state suitable for the shape and state (hard, soft, brittle, pinched with fingertips, etc.) of the object.

[0016] (Embodiment) A robot hand device 100 according to one embodiment of the present invention will be described with reference to FIGS. First, the overall configuration of the robot hand device will be described with reference to FIG. The robot hand device 100 mainly comprises a joint mechanism 50, a bending drive means 51, and a rotation adjustment mechanism 52. The joint mechanism 50 has a plurality of phallanges (first to third phallanges) a-c and phallanges d, e (first and second phallanges) rotatably connected via phallang rotation axes (m1, m2, and m3), and these phallangs a-c and phallangs d, e form a plurality of finger parts 11-15 (five in the drawing, but the number of parts and phallangs may be changed appropriately depending on the function of the robot hand). In addition, in the joint mechanism 50, the five finger parts 11 to 15 are rotatably connected to the hand main body 61 via rotation support shafts (n1, n2, and n3). The bending drive means 51 is for bending the fingers a to e of the joint mechanism 50 from a reference position, and is composed of, for example, a motor and a wire wound around a pulley rotated by the motor to transmit a pulling force.

[0017] The internal structure of one of the finger parts 11 to 15 (for example, the finger part 11) of the joint mechanism 50 shown in FIG. 2 will be described with reference to FIG. The finger part 11 has a configuration in which a plurality of phalanges (corresponding to symbols a, b, and c in FIG. 2, and labeled in order from the third joint 62 on the base end side, the second joint 63, the first joint 64) are rotatably connected via a phalange rotation axis (labeled in order from the third joint 65 on the base end side, the second joint 66, the first joint 67). In the finger part 11, the phalangeal rotation axis m1 corresponds to the "first joint", the phalangeal rotation axis m2 corresponds to the "second joint", and the rotation support axis n1 corresponds to the "third joint". Specifically, in the joint mechanism 50 of the finger parts 11 to 15, the phalangeal rotation axes m1, m2 and the rotation support axis n1 of the three phalanges 62 to 64 are arranged in a positional relationship parallel or substantially parallel to one another.

[0018] The rotation adjustment mechanism 52 is provided at the first, second and third joints 65-67, which are the rotation points of the fingers 62, 63 and 64, and adjusts the rotation of each of the first to third joints 62-64 by the bending drive means 51. In one embodiment, the rotation of the first to third joints 62-64 is restricted to one direction by energizing or de-energizing the operating unit described below.

[0019] The bending drive means 51 drives the phalanges (first to third joints) 62 to 64 of the joint mechanism 50 to palmarly flex toward the flat side, which is a plus direction (arrow X direction) from the reference position, or to dorsally flex toward the back side, which is a minus direction (arrow X direction) from the reference position, and is constituted by wires 51 as bending drive means driven by an actuator 69 such as an electric motor. The wires 51 of each finger part 11 are pulled or drawn by the actuator 69 installed at any part of the structure that constitutes the hand, wrist, or arm. These wires 51 are provided for each finger part 11, and two of them are connected to a first section 64 located at the tip of each finger part 11. By pulling one of the wires and making the other follow, the finger part 11 is rotated in the direction of the arrow X or Y. In addition, the wires 51 of each finger part 11 are positioned slightly toward the palm side / back side from the rotation center of the phalangeal rotation axis (m1, m2) and the rotation support axis (n1) in order to apply a bending force (moment around the joint) to each finger part 11.

[0020] The configuration of the rotation adjustment mechanism 52 that adjusts the rotation directions of the fingers 62 to 64 will be described in detail with reference to Figures 7 to 10. In the following description, the structure of the first joint 67 will be mainly described as a representative example of the fingers A, B, and C. The first joint 67 includes a central roller 72 that rotates integrally therewith, and satellite rollers 73 are arranged around the central roller 72 at intervals of 180 degrees from each other in the circumferential direction and supported for free rotation and revolution by holding rollers 74. Similarly, the second joint 66 includes a central roller 71 that rotates integrally therewith, but as it has the same configuration as the first joint 67, a detailed description thereof will be omitted.

[0021] As shown in Fig. 10, the holding roller 74 has a support hole 75 that rotatably houses the satellite roller 73. The support hole 75 has an egg-shaped cross section with a large diameter portion having an inner diameter slightly larger than the outer diameter of the satellite roller 73 to allow the rotation of the satellite roller 73, and a small diameter portion having an inner diameter slightly smaller than the outer diameter of the satellite roller 73 to restrict the rotation of the satellite roller 73. The support hole 75 is formed in two places with the small diameter portion facing forward in the clockwise direction and spaced 180 degrees apart (an angle equivalent to a half turn) in the rotation direction. The small diameter portion of the support hole 75 is provided with an operating member 76 that moves the satellite roller 73 by appearing and disappearing into the support hole 75 so as to be in a protruding state shown in Fig. 10(a) or in a retracted state shown in Fig. 10(b). The operating member 76 is an actuator such as a solenoid that reciprocates a plunger by electromagnetic force, and is connected to a power source DC via a switch SW as shown in Fig. 8. By opening and closing the switch SW, the operating member 76 is switched from a non-energized state shown in Fig. 8(a) to an energized state shown in Fig. 8(b), and is configured to move the satellite rollers 73 from the small diameter portion to the large diameter portion within the support hole 75 by protruding the operating member 76 into the support hole 75.

[0022] The function and operation of the robot hand device according to one embodiment of the above configuration will be described. First, the operation of the rotation adjustment mechanism (torque limiter) 52 that enables the operation of one embodiment will be described with reference to FIGS. Here, when the operating member 76 is energized, it can be operated to protrude as shown in Figure 10(a) to move the satellite roller 73 from the small diameter side to the large diameter side of the support hole 75 to enable rotation, and when it is de-energized, it can be operated to retract from the support hole 75 as shown in Figure 10(b) to allow the satellite roller 73, which was on the large diameter side within the support hole 75, to move to the small diameter side, thereby restricting rotation. 9(a), when the central roller 72 rotates counterclockwise (in the direction of the arrow X) and the holding roller 74 rotates clockwise (in the direction of the arrow Y), the satellite rollers 73 move to the large diameter portion of the support hole 75, and are therefore able to relatively revolve around the central roller 72 while rotating clockwise. Here, the operating member 76 is in a non-energized state and is disposed at a position retracted from the support hole 75.

[0023] 9(b), when central roller 72 attempts to rotate clockwise (arrow Y direction) and retaining roller 74 attempts to rotate counterclockwise (arrow X direction), satellite rollers 73 move to the small diameter portion of support hole 75 and come into contact with the inner surface of support hole 75, restricting their rotation and also restricting their relative revolution around central roller 72. Note that although the rotation of satellite rollers 73 is restricted, they can slide on the surface of central roller 72 when a torque much larger than when they roll is applied, so their counterclockwise revolution is not completely restricted.

[0024] Furthermore, as shown in FIG. 9(c), when an actuator such as a solenoid that constitutes the operating member 76 is energized to cause the operating member 76 to protrude into the support hole 75, the satellite rollers 73 are pushed toward the larger diameter side of the support hole 75, enabling the satellite rollers 73 to rotate on their axes. As shown in FIG. 9(c), the center roller 72 can rotate counterclockwise (in the direction of arrow X), and the retaining roller 74 can rotate clockwise (in the direction of arrow Y). When the operating member 75 is returned from the state shown in FIG. 9(c) to the retracted state as shown in FIG. 9(a), the satellite rollers 73 are able to move to the smaller diameter side, and as shown in FIG. 9(b), the clockwise rotation of the center roller 72 (Y direction in the figure) and the counterclockwise rotation of the retaining roller 74 (X direction in the figure) can be regulated.

[0025] The operation of the robot hand device 100 based on the action of the rotation adjustment mechanism 52 will be described. FIG. 4(a) shows a side view of the finger parts 11, 11' when a pair of robot hand devices 100 are positioned to sandwich an object 70, and the upper and lower finger parts 11, 11' have the first to third sections 62-64 both in a straight line, ready to sandwich the object 70. When the bending drive means 51 of the upper and lower finger parts 11, 11' is operated so as to be pulled in the direction of the arrow in FIG. 4(b), the finger parts 11, 11' are bent in the palmar flexion direction toward the palm, and the tip of the first section 64 pinches the object 70. When the bending drive means 51 of the upper finger part 11 is pulled more in order to increase the force for holding the object 70, the first joint 64 of the upper finger part 11 is bent more. The lower finger part 11', which receives the force of the upper finger part 11, is restricted in its rotation in the dorsiflexion direction toward the back of the hand by the action of the rotation adjustment mechanism 52 provided in the first to third joints 65 to 67, so that the bending angle shown in Fig. 4(b) (30 degrees in the illustrated example) is maintained.

[0026] In contrast, when the rotation is not restricted by the rotation adjustment mechanism 52, the bent state shown in FIG. 4(c) is obtained. In other words, when the bending drive means 51 of the upper finger part 11 is pulled further from the state shown in FIG. 4(b), although the first segment 64 of the upper finger part 11 is bent more (reaches 45 degrees), the second segment 63 is extended by dorsiflexion to an angle close to a straight line (extends to 15 degrees), so that the force transmitted from the tip of the first segment 64 to the object 70 cannot be increased, and therefore the gripping force acting on the object 70 between the finger parts 11, 11' cannot be increased despite the operation of the bending drive means 51.

[0027] In one embodiment, the rotation adjustment mechanism 52 restricts the return movement of the finger parts 11, 11' in the dorsiflexion direction, so that a sufficient gripping force can be applied from the first segment 64 at the tip of the finger part 11 to the object 70, thereby making it possible to reliably hold the object 70 between the finger parts 11, 11'. In addition, in Figs. 4(a), (b), and (c), the movement of finger part 11 has been described as an example, but for the other finger parts 12, 13, 14, and 15, a movement similar to that of finger part 11 is performed depending on the shape of the object 70 and the approach direction, or a movement different from that of finger part 11 is performed depending on the position of the finger part.

[0028] The operation of the robot hand device 100 according to one embodiment when gripping an object 70 in an enveloping manner will be described with reference to FIG. As shown in Fig. 5(a), the finger part 11 is placed at a position where the third joint 65 is above the object 70. When the tip of the first section 64 is pulled in the palmar flexion direction by the bending drive means 51, as shown in Figs. 5(b) and (c), the second section 63 and the third section 62 are bent sequentially as shown in Figs. 5(b) and (c) because the rotation adjustment mechanism 52 can freely rotate in the palmar flexion direction, and finally, as shown in Fig. 5(d), the object 70 can be grasped in a state where the object 70 is wrapped around it (a grasping state similar to a state where the object is grasped by the fingers of a human hand).

[0029] Since the rotation in the dorsiflexion direction is restricted by the rotation adjustment mechanism 52, the gripping state shown in Fig. 5(d) is maintained, but by energizing the operation member 76 shown in Figs. 9 and 10 to push the satellite rollers 73 toward the large diameter portion of the support hole 75, the restriction on the rotation in the dorsiflexion direction by the rotation adjustment mechanism 52 is released, making it possible to release the grip by the finger parts 11. Following this release, the bending drive means 51 can pull the first section 64 in the opposite direction, thereby releasing the object 70 from the gripping state.

[0030] The operation of the robot hand device 100 according to one embodiment when holding an object 70 by clamping it from above and below will be described with reference to FIG. As shown in FIG. 6(a), the upper and lower finger parts 11, 11' have the first to third sections 62-64 in a straight line and are ready to pinch an object 70, that is, are positioned above and below the object 70 with a sufficient gap between them. When the bending drive means 51 of the upper and lower finger parts 11, 11' are operated so as to be pulled in the direction of the arrow in FIG. 6(b), the finger parts 11, 11' are bent in the palmar flexion direction toward the palm, and the tips of the first segments 64 of the upper and lower finger parts 11, 11' approach the target object 70 and pinch it. When the bending drive means 51 of the upper finger part 11 is pulled more to increase the force for holding the object 70, the first joint 64 of the upper finger part 11 is bent more. The lower finger part 11', which receives the force of the upper finger part 11, is restricted in its rotation in the dorsiflexion direction toward the back of the hand by the action of the rotation adjustment mechanism 52 provided in the first to third joints 65 to 67, so that the bending angle shown in FIG. 6(b) is maintained.

[0031] When the bending drive means 51 of the upper finger part 11 is pulled further from the state shown in FIG. 6(b), as shown in FIG. 6(c), the first segment 64 of the upper finger part 11 is bent further (45 degrees in the illustrated example), but the rotation of the lower finger part 11' in the dorsiflexion direction is restricted and the angle is maintained. Therefore, the object 70 can be held between the upper and lower finger parts 11, 11' while being compressed in the vertical direction.

[0032] According to the robot hand device 100 of this embodiment described above, in addition to the bending drive means 51 that bends the fingers A to C of the joint mechanism 20, a rotation adjustment mechanism 52 is provided at the rotation points of the fingers A to C that adjusts the rotation of each of the fingers A to C by individually limiting the rotation direction to one direction. In other words, in the robot hand device 100 of this embodiment, a dedicated rotation adjustment mechanism 52 is provided that individually adjusts the rotational sliding resistance of the rotation points of the fingers A to C, making it possible to perform fine grasping operations of the fingers A to C that are suitable for the shape and condition of the object (hard, soft, brittle, pinched with fingertips, etc.).

[0033] In the above embodiment, the rotation adjustment mechanism is configured to restrict the relative rotation of the phalanges in one direction. However, depending on the shape of the object, the operating member of the rotation adjustment mechanism may be configured to be energized or cut off so as to restrict the rotation of only some of the phalanges constituting one finger part, or to restrict the rotation of only some of the finger parts. In addition, a mechanism such as a slip clutch that slips when a driving force greater than a predetermined level is transmitted may be adopted in part of the power transmission system from the bending drive means to the phalanges to prevent damage to the finger parts or the phalanges that make up the finger parts.

[0034] The present invention can be generally applied to devices that perform bending and stretching movements. In addition, while the present invention focuses on the "hand," when considering bending and stretching movements, this can be replaced with elbows, knees, feet, etc., and it can also be applied to machines that model the structure of the human body. In addition, as medical devices, prosthetic limbs are devices that reproduce the movements of various parts of the human body and act as second limbs. The technology of the present invention can also be applied to this field.

[0035] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design modifications and the like are also included within the scope of the present invention that does not deviate from the gist of the present invention. [Industrial Applicability]

[0036] The present invention relates to a humanoid robot hand device and a robot hand operation method that can bend the phalanges that make up the five fingers in stages according to the shape (flat, curved, angular, round, etc.) and condition (hard, soft, brittle, pinched with fingertips, etc.) of an object. [Explanation of symbols]

[0037] 10, 11, 11', 12, 13, 1 4, 15 finger parts 20 Joint Mechanism 21 Bending drive means 22 Rotation adjustment mechanism 23 Regulatory Materials 50 Joint Mechanism 51 Bending drive means 52 Rotation adjustment mechanism 61 Hand body 62 Third phalanx (phalanx) 63 2nd phalanx (phalanx) 64 Section 1 (phalange) 65 Third joint 66 Second joint 67 First joint 69 Actuator 70 Objects 71, 72 Center roller 73 Satellite Roller 74 Holding roller 75 Support hole 76 Operating member 100 Robot hand device A, B, C phalanx SW Switch DC power supply a phalanx b phalanx c phalanx d phalanx e phalanx A phalanx B phalanx C phalanx m1 Phalangeal rotation axis m2 phalangeal rotation axis m3 Phalangeal rotation axis n1 Rotating support shaft n2 Rotating support shaft n3 Rotation support shaft

Claims

1. a joint mechanism having a plurality of phalanges rotatably connected to each other, the plurality of phalanges constituting each finger part, the finger parts being rotatably connected to a hand main body; a bending drive means for bending the phalanges of the joint mechanism; and a rotation adjustment mechanism provided at a rotation location of the phalanges for adjusting the rotation of each of the phalanges by the bending drive means, The rotation adjustment mechanism includes a central roller that rotates in conjunction with one of the interlocking phalanges, and a satellite roller that rotates around the central roller in conjunction with the other of the phalanges. a support hole having a large diameter portion that allows the satellite rollers to rotate around the central roller and a small diameter portion that restricts the rotation; an operating member for operating the position of the satellite roller within the support hole; having the support hole is provided on the inner periphery of an annular retaining roller rotatably provided on the outer periphery of the central roller, and supports a part of the outer periphery of the satellite roller so that the large diameter portion can come into contact with the central roller; the operating member is provided so as to be able to freely protrude from and retract into the support hole from the small diameter portion toward the large diameter portion, By protruding from the small diameter portion, the satellite roller is pushed toward the large diameter portion, retracting from the small diameter portion to allow the satellite rollers to move toward the small diameter portion; Robot hand device.

2. The operating member is actuated by electromagnetic force to move the satellite roller within the support hole. The robot hand device according to claim 1 .

3. 2. The robot hand device according to claim 1, wherein the bending drive means causes the phalanges of the joint mechanism to bend palmarly in a positive direction from a reference position and to bend dorsally in a negative direction from the reference position.

4. 2. The robot hand device according to claim 1, wherein the bending drive means comprises a wire for tensioning / relaxing the phalanges of the joint mechanism.

5. The robot hand device according to claim 4 , wherein the wire is connected to a first phalanx of a finger part.

6. A pair of the robot hand devices according to any one of claims 3 to 5 is provided, and these robot hand devices are arranged such that a palmar flexion direction and a dorsal flexion direction are oriented in opposite directions to each other. gripping device.

7. A robot hand device having a joint mechanism with a plurality of rotatably connected phalanges, each of which constitutes a finger part, and with which the finger parts are also rotatably connected to a hand main body, the device comprising: a bending drive step for bending the phalanges of the joint mechanism; and a rotation adjustment step for restricting the rotation of each of the phalanges by the bending drive step to a predetermined direction, The rotation adjustment step includes a central roller that rotates in conjunction with one of the interlocking phalanges, and a satellite roller that rotates around the central roller in conjunction with the other of the phalanges. a support hole having a large diameter portion that allows the satellite rollers to rotate around the central roller and a small diameter portion that restricts the rotation; an operating member for operating the position of the satellite roller within the support hole; The rotation adjustment mechanism has a step of restricting rotation of the satellite rollers by contacting a part of the outer periphery of the satellite roller with the central roller at the large diameter portion from an inner periphery of an annular retaining roller rotatably provided on the outer periphery of the central roller; adjusting the position of the satellite roller within the support hole; Has The step of adjusting the position of the satellite rollers includes: a step of pushing the satellite roller toward the large diameter portion by projecting the operating member from the small diameter portion; a step of allowing the satellite rollers to move toward the small diameter portion by retracting an operating member from the small diameter portion; 13. A method for operating a joint in a robot hand device, comprising:

8. 8. The method for operating a joint in a robot hand device according to claim 7, wherein the robot hand devices are disposed opposite to each other, and the phalanges are bent with the directions in which the rotation ranges of the robot hand devices are restricted being opposite to each other.

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