Hand device and work method of hand device

Abstract

The present invention comprises: a plurality of finger parts 11-14, 21-24 provided to a hand base part 1; gripping parts 81-83 provided to the finger parts 11-14, 21-24; and work parts 85 provided to portions of the finger parts 11-14, 21-24 different from those of the gripping parts 81-83. The finger parts 11-14, 21-24 can be switched between a gripping orientation in which an object is gripped by the gripping parts 81-83 due to the finger parts 11-14, 21-24 being operated in a direction in which the finger parts 11-14, 21-24 approach each other, and a work orientation in which the work parts 85 are arranged and work is performed by the work parts 85.

Description

Hand Device and Working Method of Hand Device

[0001] The present invention relates to a hand device attached to a robot arm or the like for performing work and a working method of the hand device.

[0002] As a hand device, as disclosed in Patent Document 1, there is one in which a plurality of finger portions are movably attached to a base portion. By operating the plurality of finger portions in a direction in which they approach each other, an object is grasped by the finger portions, and by operating the plurality of finger portions in a direction in which they separate from each other, the finger portions are separated from the object.

[0003] Japanese Patent Application Laid-Open No. 2024-127320

[0004] In the hand device, it is desired to enhance the versatility of the hand device by providing other functions in addition to the function of grasping an object by the finger portions. An object of the present invention is to provide a hand device and a working method of the hand device with another function in addition to the function of grasping an object by the finger portions.

[0005] The hand device of the present invention includes a hand base portion, a plurality of finger portions provided on the hand base portion, a gripping portion provided on the finger portions, and a working portion provided on a portion of the finger portions different from the gripping portion, and the finger portions are switchable between a gripping posture in which the finger portions are operated in a direction in which they approach each other and an object is grasped by the gripping portion and a working posture in which the working portions are arranged and work is performed by the working portions.

[0006] According to the present invention, the gripping portion and the working portion are provided on the finger portions, and in a state where the finger portions are set in the gripping posture, by operating the finger portions in a direction in which they approach each other, an object is grasped by the gripping portion of the finger portions. By operating the finger portions in a direction in which they separate from each other, the gripping portion of the finger portions is separated from the object.

[0007] According to the present invention, when the finger portion is set to a working position, the working parts of the finger portion are aligned. In this state, the entire hand device can be moved, allowing the working parts of the finger portion to perform other tasks. Examples of such tasks include leveling the ground by pushing soil or stones sideways, or moving luggage or other objects placed on the floor.

[0008] According to the present invention, a gripping part for grasping an object and a working part for performing other tasks are separately provided on the finger, and the gripping part and the working part of the finger have less influence on each other. As a result, the gripping part of the finger can be configured to be suitable for grasping an object, and the working part of the finger can be configured to be suitable for other tasks.

[0009] As described above, according to the present invention, in addition to the function of gripping an object with the gripping part of the finger, the hand device is also equipped with the function of performing other tasks with the working part of the finger, thereby improving the versatility of the hand device. According to the present invention, the gripping part and the working part of the finger can each be configured independently to suit the task, which also improves the versatility of the hand device.

[0010] In the present invention, the finger portion has a first finger portion provided on the hand base so as to be pivotable around a first axis, and a second finger portion provided on the first finger portion so as to be pivotable around a second axis along the first axis, and on which the gripping portion and the working portion are provided. Preferably, at least three of the second finger portions are set to the working position by operating the second finger portions so that the working portions are aligned with each other, and operating the first finger portions so that the working portions are lined up close to each other.

[0011] According to the present invention, the finger portion has a first finger portion and a second finger portion, and when the first finger portion and the second finger portion are set in a gripping position, it becomes possible to grip an object by wrapping the first finger portion and the second finger portion around it, thereby improving the function of gripping an object with the gripping portion of the second finger portion.

[0012] According to the present invention, the first and second fingers are set to a working position by operating the second finger portion relative to the first finger portion so that the working portions of the second finger portion are aligned with each other, and by operating the first finger portion relative to the hand base so that the working portions of the second finger portion are positioned close together. This makes it possible to narrow the gap between the working portions of adjacent second finger portions, and the area of ​​the working portions of the closely aligned second finger portions becomes relatively large, so that a state suitable for other tasks can be obtained, which is advantageous in terms of improving the versatility of the hand device.

[0013] In the present invention, it is preferable that the hand base is provided with a plurality of support mechanisms extending outward from the hand base, and each of the support mechanisms is provided with a plurality of finger bases, and that the finger portion is provided with the finger base, and the position of the finger base is set so that the finger portion is set to the gripping position when the support mechanism is operated, and the position of the finger base is set so that the finger portion is set to the working position.

[0014] According to the present invention, a plurality of support mechanisms are provided on the hand base, a plurality of finger bases are provided on each of the support mechanisms, a finger portion is provided on each of the finger bases, and the finger portion is provided on the hand base via the support mechanisms and finger bases. The position of the finger support portion is changed by operating the support mechanism.

[0015] According to the present invention, the finger portion is set to the gripping position by operating the support mechanism so that the finger base is moved to a position corresponding to the gripping position. The finger portion is set to the working position by operating the support mechanism so that the finger base is moved to a position corresponding to the working position. Since the finger portion can be easily set to the gripping position and the working position by operating the support mechanism so that the operability of switching between the gripping position and the working position of the finger portion can be improved.

[0016] In the present invention, it is preferable that a switching motor is provided that switches the finger portion between the gripping position and the working position by operating the support mechanism.

[0017] According to the present invention, the support mechanism is operated by a switching motor, thereby setting the finger portion to a gripping position and a working position. This is advantageous in terms of improving the operability of switching between the gripping position and the working position of the finger portion.

[0018] In the present invention, it is preferable that the switching motor is equipped with a switching interlocking mechanism that operates a specific support mechanism among a plurality of support mechanisms and transmits the operation of the support mechanism operated by the switching motor to the other support mechanisms, thereby linking the operation of the support mechanism operated by the switching motor with the operation of the other support mechanisms.

[0019] According to the present invention, when a specific support mechanism is operated by a switching motor, the operation of that specific support mechanism is transmitted to other support mechanisms via a switching interlocking mechanism, and multiple support mechanisms are operated in conjunction. As a result, it is not necessary to provide a switching motor for each support mechanism, and the structure for switching between the gripping posture and working posture of the fingers can be simplified.

[0020] In the present invention, it is preferable that the gripping posture includes a first gripping posture in which the position of the finger bases is set by operating the support mechanism, so that each of the gripping parts faces the center of the hand base and the finger parts are operated in a direction that brings them closer to each other toward the center of the hand base, and a second gripping posture in which the position of the finger bases is set by operating the support mechanism, so that the gripping parts face each other and the facing finger parts are operated in a direction that brings them closer to each other.

[0021] According to the present invention, when the finger portion is set to the first gripping position, the gripping portion of the finger portion faces the center of the hand base. In the aforementioned state, when the finger portions are operated in a direction that brings them closer to each other toward the center of the hand base, the object is surrounded by the gripping portion of the finger portion near the center of the hand base, and the object is gripped by the gripping portion of the finger portion. The first gripping position is suitable for gripping a solid object such as a sphere.

[0022] According to the present invention, when the finger portion is set to the second gripping position, the gripping portions of the finger portion face each other. In the aforementioned state, when the finger portion is operated in a direction that brings them closer together, the opposing gripping portions of the finger portion move closer to each other, and the object is gripped by the gripping portions of the finger portion in a state where it is held between them. The second gripping position is suitable for gripping long objects such as pipes.

[0023] This allows the finger portion to be set to a first gripping position or a second gripping position depending on the size and shape of the object to be grasped, the surrounding conditions of the object placed on the floor, etc., thereby improving the function of the finger portion in grasping objects.

[0024] In the present invention, in the second gripping position, at least two pairs of the finger portions are formed where the gripping portion faces each other, and it is preferable that the spacing between adjacent pairs of finger portions is changed by operating the support mechanism.

[0025] According to the present invention, when the finger portion is set to the second gripping position, the support mechanism is operated to change the spacing between adjacent finger portions. For example, in the case of a long object, it is preferable to set the spacing between adjacent finger portions to be large. For example, in the case of a short object, it is preferable to set the spacing between adjacent finger portions to be small. As a result, when the finger portion is set to the second gripping position, the spacing between adjacent finger portions can be changed according to the size and shape of the object being gripped, which is advantageous in terms of improving the function of gripping an object with the finger portion.

[0026] In the present invention, it is preferable that a changing motor is provided that changes the spacing between adjacent pairs of fingers by operating the support mechanism.

[0027] According to the present invention, the support mechanism is operated by a change motor, and the spacing between adjacent pairs of finger portions is changed, which is advantageous in terms of improving the function of gripping an object with the gripping portion of the finger.

[0028] In the present invention, it is preferable that the change motor is equipped with a change linkage mechanism that operates a specific support mechanism among a plurality of support mechanisms and transmits the operation of the support mechanism operated by the change motor to the other support mechanisms, thereby linking the operation of the support mechanism operated by the change motor with the operation of the other support mechanisms.

[0029] According to the present invention, when a specific support mechanism is operated by a change motor, the operation of that specific support mechanism is transmitted to other support mechanisms via a change interlocking mechanism, and multiple support mechanisms are operated in conjunction. As a result, it is not necessary to provide a change motor for each support mechanism, thus simplifying the structure when changing the spacing between adjacent pairs of finger parts.

[0030] The present invention provides a hand device for working, comprising a hand base, a plurality of finger portions provided on the hand base, gripping portions provided on the finger portions, and work portions provided on the finger portions in a portion different from the gripping portions, wherein the finger portions are switchable between a gripping posture in which an object is gripped by the gripping portions by operating the finger portions toward each other, and a work posture in which work is performed by the work portions arranged side by side, wherein the hand device has a gripping mode in which an object is gripped by the gripping portions by operating the finger portions set in the gripping posture toward each other, and a work mode in which work is performed by the work portions of the finger portions set in the work posture.

[0031] According to the present invention, a gripping portion and a working portion are provided on the finger portion. In a gripping mode in which the finger portion is set to a gripping position, the object is gripped by the gripping portion of the finger portion when the finger portion is operated in a direction that brings the finger portion closer to each other. When the finger portion is operated in a direction that moves the finger portion apart from each other, the gripping portion of the finger portion separates from the object.

[0032] According to the present invention, in a work mode in which the finger portion is set to a working posture, the entire hand device is moved, allowing the finger portion to perform other tasks. Examples of such tasks include leveling the ground by pushing soil or stones sideways, or moving luggage or other objects placed on the floor.

[0033] According to the present invention, a gripping part for grasping an object and a working part for performing another task are separately provided on the finger, and the gripping part and the working part of the finger have less influence on each other, so that the task of grasping an object and the task of performing another task can be performed without difficulty.

[0034] As described above, according to the present invention, in addition to the function of gripping an object with the gripping part of the finger, the hand device is also equipped with the function of performing other tasks with the working part of the finger, thereby improving the versatility of the hand device. According to the present invention, the gripping part and the working part of the finger can each be configured independently to suit the task, which also improves the versatility of the hand device.

[0035] In the present invention, in the work mode, it is preferable to perform the operation of pushing crops and soil using the work unit.

[0036] According to the present invention, a method for operating a handheld device suitable for agriculture can be obtained.

[0037] This is a side view of the hand device in the first gripping position of the gripping mode. This is a cross-sectional view of the hand device in the first gripping position of the gripping mode, viewed from the D-D direction in Figures 1, 4, and 5. This is a cross-sectional view of the hand device in the first gripping position of the gripping mode, viewed from the C-C direction in Figures 1, 4, and 5. This is a cross-sectional view of the hand device in the first gripping position of the gripping mode, viewed from the A-A direction in Figures 2 and 3. This is a cross-sectional view of the hand device in the first gripping position of the gripping mode, viewed from the B-B direction in Figures 2 and 3. This is a cross-sectional view of the first and second finger portions. This is a cross-sectional view of the first and second finger portions. This is a side view of the second finger portion. This is a perspective view of the second finger portion. This is a side view showing the state of gripping an object in the hand device in the first gripping position (second gripping position) of the gripping mode. This is a side view showing the state of gripping an object in the hand device in the first gripping position (second gripping position) of the gripping mode. This is a side view showing the state in which the hand device is gripping an object in the first gripping posture (second gripping posture) of the gripping mode. This is a cross-sectional view of the hand device in the second gripping posture of the gripping mode, viewed from the D-D direction in Figures 1, 4, and 5. This is a cross-sectional view of the hand device in the second gripping posture of the gripping mode, viewed from the D-D direction in Figures 1, 4, and 5. This is a side view of the hand device in the working posture of the work mode. This is a view of the hand device in the working posture of the work mode, viewed from the E-E direction in Figure 15.

[0038] (Overall configuration of the hand device) As shown in Figures 1, 2, and 3, the hand device comprises a hand base 1, four sets of support mechanisms 40, 50, 60, and 70, four sets of finger bases 31, 32, 33, and 34, four sets of first finger parts 11, 12, 13, and 14, four sets of second finger parts 21, 22, 23, and 24, four sets of electric motors 15, 16, 17, and 18, and four sets of electric motors 25, 26, 27, and 28 (see Figures 6 and 7).

[0039] The hand base 1 is attached to a robot arm (not shown) or the like. Four sets of support mechanisms 40, 50, 60, and 70 are provided on the hand base 1 and extend outward from the hand base 1.

[0040] Four sets of finger bases 31 to 34 are attached to each of the support mechanisms 40, 50, 60, and 70. Four sets of first finger portions 11 to 14 are attached to each of the finger bases 31 to 34, and four sets of second finger portions 21 to 24 are attached to each of the first finger portions 11 to 14.

[0041] (Configuration of Hand Base 1) As shown in FIGS. 2 to 4, the hand base 1 has a motor housing portion 2, substrates 3, 6, 8, a vertical wall portion 4, and housing portions 5, 7.

[0042] A disc-shaped substrate 3 is connected to the cylindrical motor housing portion 2, and a flat vertical wall portion 4 is connected to the substrate 3. A cylindrical housing portion 5 is connected to the vertical wall portion 4, and a flat substrate 6 is connected to the housing portion 5. A cylindrical housing portion 7 is connected to the substrate 6, and a flat substrate 8 is connected to the housing portion 7 with a gap therebetween. Electric motors 9, 10 are arranged side by side inside the motor housing portion 2.

[0043] (Configuration of Support Mechanism 40 and Finger Base 31) As shown in FIGS. 2, 3, and 4, the support mechanism 40 among the four sets of support mechanisms 40, 50, 60, and 70 has drive shafts 41, 42, interlocking gears 43, 44, operating arms 45, 46, 47, a link 48, and a fulcrum shaft 49.

[0044] The drive shaft 41 is connected to the output shaft (not shown) of the electric motor 9 and is provided from the substrate 3 of the hand base 1 across the housing portion 5. The drive shaft 41 is rotationally operated by the electric motor 9. The interlocking gear 43 is connected to the portion of the drive shaft 41 in the housing portion 5 of the hand base 1.

[0045] The operating arm 45 is connected to the portion of the drive shaft 41 between the substrate 3 and the housing portion 5 of the hand base 1, and the link 48 is swingably attached to the portion on the side of the substrate 3 of the hand base 1 at the end of the operating arm 45. The operating arm 47 is rotatably attached to the portion of the drive shaft 41 between the operating arm 45 and the substrate 3 of the hand base 1 with respect to the drive shaft 41.

[0046] The drive shaft 42 is rotatably attached to the housing portion 7 of the hand base 1 and the substrate 8. The interlocking gear 44 is connected to the portion of the drive shaft 42 in the housing portion 7 of the hand base 1. The operating arm 46 is connected to the portion of the drive shaft 42 between the housing portion 7 of the hand base 1 and the substrate 8.

[0047] The fulcrum shaft 49 is attached via a needle bearing across the drive shaft 41 and the drive shaft 42. The drive shaft 41 and the drive shaft 42 are provided concentrically by the fulcrum shaft 49, and the drive shaft 41 and the drive shaft 42 are rotatable independently of each other.

[0048] The fulcrum shaft 35 is attached across the operating arms 46, 47, and the fulcrum shaft 36 is attached to the link 48. The finger base 31 is attached to the fulcrum shafts 35, 36 and is attached to the support mechanism 40 via the fulcrum shafts 35, 36.

[0049] (Configuration of the support mechanism 50 and the finger base 32) As shown in FIGS. 2, 3, and 4, among the four sets of support mechanisms 40, 50, 60, and 70, the support mechanism 50 includes drive shafts 51, 52, interlocking gears 53, 54, operating arms 55, 56, 57, a link 58, and a fulcrum shaft 59.

[0050] The drive shaft 51 is rotatably provided from the substrate 3 of the hand base 1 to the housing portion 5, and the interlocking gear 53 is connected to the portion of the drive shaft 51 in the housing portion 5 of the hand base 1. The interlocking gear 53 and the interlocking gear 43 of the support mechanism 40 are meshed with each other.

[0051] The operating arm 55 is connected to the portion of the drive shaft 51 between the substrate 3 and the housing portion 5 of the hand base 1, and the link 58 is swingably attached to the portion on the housing portion 5 side at the end of the operating arm 55. The operating arm 57 is rotatably attached to the drive shaft 51 with respect to the drive shaft 51 at the portion between the operating arm 55 and the substrate 3 of the hand base 1.

[0052] The drive shaft 52 is rotatably mounted to the housing 7 and the base plate 8 of the hand base 1. The interlocking gear 54 is connected to the portion of the drive shaft 52 that is in the housing 7 of the hand base 1, and the interlocking gear 54 is engaged with the interlocking gear 44 of the support mechanism 40. The operating arm 56 is connected to the portion of the drive shaft 52 that is between the housing 7 and the base plate 8 of the hand base 1.

[0053] A pivot shaft 59 is attached to the drive shaft 51 and the drive shaft 52 via needle bearings. The pivot shaft 59 causes the drive shaft 51 and the drive shaft 52 to be concentric, and the drive shaft 51 and the drive shaft 52 can rotate independently of each other.

[0054] A pivot shaft 35 is attached to the operating arms 56 and 57, and the pivot shaft 36 is attached to the link 58. The finger base 32 is attached to the pivot shafts 35 and 36, and is attached to the support mechanism 50 via the pivot shafts 35 and 36.

[0055] (Configuration of support mechanism 60 and finger base 33) As shown in Figures 2, 3, and 5, among the four sets of support mechanisms 40, 50, 60, and 70, support mechanism 60 has drive shafts 61, 62, and 69, interlocking gears 63 and 64, operating arms 65, 66, and 67, and a link 68.

[0056] The drive shaft 69 is connected to the output shaft (not shown) of the electric motor 10 and extends from the base plate 3 to the housing 5 of the hand base 1. The drive shaft 62 is rotatably mounted to the housing 7 and base plate 8 of the hand base 1 and is connected to the drive shaft 62 and the drive shaft 69, and the drive shafts 62 and 69 are rotated by the electric motor 10.

[0057] The interlocking gear 64 is connected to the housing portion 7 of the hand base 1 on the drive shaft 62, and the interlocking gear 64 and the interlocking gear 54 of the support mechanism 50 are engaged. The operating arm 66 is connected to the portion of the drive shaft 62 between the housing portion 7 of the hand base 1 and the base plate 8.

[0058] A cylindrical drive shaft 61 is provided extending from the vicinity of the base plate 3 of the hand base 1 to the housing 5, and is rotatably attached to a drive shaft 69. The drive shafts 61 and 69 can rotate independently of each other. An interlocking gear 63 is connected to the portion of the hand base 1 housing 5 on the drive shaft 61, and the interlocking gear 53 of the support mechanism 50 meshes with the interlocking gear 53 of the support mechanism 50.

[0059] The operating arm 65 is connected to the portion of the drive shaft 61 between the base plate 3 and the housing 5 of the hand base 1, and the link 68 is pivotably attached to the portion of the end of the operating arm 65 that is on the base plate 3 side of the hand base 1. The operating arm 67 is rotatably attached to the drive shaft 69 to the portion of the drive shaft 69 between the operating arm 65 and the base plate 3 of the hand base 1.

[0060] A pivot shaft 35 is attached to the operating arms 66 and 67, and a pivot shaft 36 is attached to a link 68. A finger base 33 is attached to pivot shafts 35 and 36, and is attached to a support mechanism 60 via pivot shafts 35 and 36.

[0061] (Configuration of support mechanism 70 and finger base 34) As shown in Figures 2, 3, and 5, of the four sets of support mechanisms 40, 50, 60, and 70, support mechanism 70 has drive shafts 71 and 72, interlocking gears 73 and 74, operating arms 75, 76, and 77, a link 78, and a pivot shaft 79.

[0062] The drive shaft 71 is rotatably mounted on the base plate 3 of the hand base 1, extending to the housing 5, and the interlocking gear 73 is connected to the portion of the drive shaft 71 that is in the housing 5 of the hand base 1. The interlocking gear 73 meshes with the interlocking gear 63 of the support mechanism 60, and the interlocking gear 73 meshes with the interlocking gear 43 of the support mechanism 40.

[0063] The operating arm 75 is connected to the portion of the drive shaft 71 between the base plate 3 and the housing portion 5 of the hand base 1, and the link 78 is pivotably attached to the portion of the end of the operating arm 75 that is on the side of the housing portion 5 of the hand base 1. The operating arm 77 is rotatably attached to the drive shaft 71 to the portion of the drive shaft 71 between the operating arm 75 and the base plate 3 of the hand base 1.

[0064] The drive shaft 72 is rotatably mounted to the housing 7 and base plate 8 of the hand base 1, and the interlocking gear 74 is connected to the portion of the drive shaft 72 that is in the housing 7 of the hand base 1. The interlocking gear 74 meshes with the interlocking gear 64 of the support mechanism 60, and the interlocking gear 74 meshes with the interlocking gear 44 of the support mechanism 40. The operating arm 76 is connected to the portion of the drive shaft 72 that is between the housing 7 and base plate 8 of the hand base 1.

[0065] A pivot shaft 79 is attached to the drive shafts 71 and 72 via needle bearings. The pivot shaft 79 causes the drive shafts 71 and 72 to be concentric, and the drive shafts 71 and 72 can rotate independently of each other.

[0066] A pivot shaft 35 is attached to the operating arms 76 and 77, and a pivot shaft 36 is attached to the link 78. The finger base 34 is attached to the pivot shafts 35 and 36, and is attached to the support mechanism 70 via the pivot shafts 35 and 36.

[0067] (Operational state of support mechanisms 40, 50, 60, 70 by electric motor 9) As shown in Figures 2 to 5, the interlocking gears 43, 53, 63, 73 are meshed with each other in the support mechanisms 40, 50, 60, 70.

[0068] When the electric motor 9 rotates the drive shaft 41 of the support mechanism 40 and operates the operating arm 45, the operation of the electric motor 9 is transmitted from the interlocking gear 43 of the support mechanism 40 to the interlocking gears 53, 63, and 73 of the support mechanisms 50, 60, and 70, thereby operating the drive shafts 51, 61, and 71 and the operating arms 55, 65, and 75 of the support mechanisms 50, 60, and 70. Consequently, the links 48, 58, 68, and 78 of the support mechanisms 40, 50, 60, and 70 are operated.

[0069] With the above configuration, when the operating arm 45 and link 48 of the support mechanism 40 are operated counterclockwise in Figure 3, the operating arm 55 and link 58 of the support mechanism 50 are operated clockwise in Figure 3, the operating arm 65 and link 68 of the support mechanism 60 are operated counterclockwise in Figure 3, and the operating arm 75 and link 78 of the support mechanism 70 are operated clockwise in Figure 3.

[0070] When the operating arm 45 and link 48 of the support mechanism 40 are operated clockwise in Figure 3, the operating arm 55 and link 58 of the support mechanism 50 are operated counterclockwise in Figure 3, the operating arm 65 and link 68 of the support mechanism 60 are operated clockwise in Figure 3, and the operating arm 75 and link 78 of the support mechanism 70 are operated counterclockwise in Figure 3.

[0071] (Operating state of support mechanisms 40, 50, 60, 70 by electric motor 10) As shown in Figures 2 to 5, the interlocking gears 44, 54, 64, 74 are meshed with each other in the support mechanisms 40, 50, 60, 70.

[0072] When the electric motor 10 rotates the drive shafts 62 and 69 of the support mechanism 40 and operates the operating arm 66, the operation of the electric motor 10 is transmitted from the interlocking gear 64 of the support mechanism 60 to the interlocking gears 44, 54, and 74 of the support mechanisms 40, 50, and 70, thereby operating the drive shafts 42, 52, and 72 and the operating arms 46, 56, and 76 of the support mechanisms 40, 50, and 70. Consequently, the operating arms 47, 57, 67, and 77 of the support mechanisms 40, 50, 60, and 70 are also operated.

[0073] With the above configuration, when the operating arms 66 and 67 of the support mechanism 60 are operated clockwise in Figure 2, the operating arms 76 and 77 of the support mechanism 70 are operated counterclockwise in Figure 2, the operating arms 46 and 47 of the support mechanism 40 are operated clockwise in Figure 2, and the operating arms 56 and 57 of the support mechanism 50 are operated counterclockwise in Figure 2.

[0074] When the operating arms 66 and 67 of the support mechanism 60 are operated counterclockwise in Figure 2, the operating arms 76 and 77 of the support mechanism 70 are operated clockwise in Figure 2, the operating arms 46 and 47 of the support mechanism 40 are operated counterclockwise in Figure 2, and the operating arms 56 and 57 of the support mechanism 50 are operated clockwise in Figure 2.

[0075] (Configuration of the first finger sections 11-14) - 1 As shown in Figures 1, 2, and 3, four sets of electric motors 15-18 are attached to each of the finger base sections 31-34.

[0076] As shown in Figures 6 and 7, the first finger portions 11 to 14 each have a base portion 19 and an arm portion 20. The base portion 19 is attached to the respective drive shafts (not shown) of the electric motors 15 to 18. The arm portion 20 is provided at the end of the base portion 19 and extends away from the electric motors 15 to 18. The electric motors 15 to 18 cause the first finger portions 11 to 14 to swing around the axis P11, P12, P13, P14 (see Figures 1, 2, and 3).

[0077] The first finger portions 11-14 are attached to the finger bases 31-34 via electric motors 15-18 so as to be able to swing around the axis P11-P14. The first finger portions 11-14 are attached to the hand base 1 via the finger bases 31-34 and support mechanisms 40, 50, 60, 70 so as to be able to swing around the axis P11-P14.

[0078] (Configuration of the first finger sections 11-14) - 2 As shown in Figures 6 and 7, four sets of electric motors 25-28 are provided inside the base 19 of each of the first finger sections 11-14, and a drive pulley 29 is attached to the drive shaft (not shown) of each of the electric motors 15-18.

[0079] The drive shaft 30 is attached to each end of the arm portion 20 of the first finger portions 11 to 14 so as to be rotatable around axis centers P21, P22, P23, and P24 which are parallel to axis centers P11 to P14. The second finger portions 21 to 24, which will be described later, are attached to each of the drive shafts 30 of the first finger portions 11 to 14.

[0080] A drive pulley 30a is attached to the drive shaft 30 inside each of the arm portions 20 of the first finger portions 11 to 14. A tension pulley 37 is provided between the drive pulleys 29 of the electric motors 25 to 28 and the drive pulley 30a of the drive shaft 30.

[0081] The transmission belt 38 is mounted across the drive pulleys 29 of the electric motors 25-28, the drive pulley 30a of the drive shaft 30, and the tension pulley 37. The transmission belt 38 is made of an elastic material such as synthetic rubber and is configured as a toothed belt (coated belt).

[0082] The operation of the electric motors 25-28 is transmitted to the drive shaft 30 via the transmission belt 38, causing the second finger portions 21-24 to rotate around the axis P21-P24 by the drive shaft 30. This changes the orientation of the second finger portions 21-24 relative to the first finger portions 11-14.

[0083] (Configuration of the second finger portions 21-24) As shown in Figures 6 and 7, the longitudinal central portion of the second finger portions 21-24 is attached to the drive shaft 30. The second finger portions 21-24 extend from the drive shaft 30 (axis P21-P24) toward one side and the other side along a direction perpendicular (intersecting) to the drive shaft 30 (axis P21-P24).

[0084] As shown in Figures 8 and 9, the second finger portions 21-24 have four sets of gripping portions 81, 82, 83, and 84 and a working portion 85. The concave gripping portion 81 and the concave gripping portion 83 are provided on opposite sides of one side of the second finger portions 21-24. The flat gripping portion 82 and the concave gripping portion 84 are provided on opposite sides of the other side of the second finger portions 21-24.

[0085] On one side of the second finger portions 21-24, the flat lateral surface between the gripping portion 81 and the gripping portion 83 is the working portion 85. A soft material 80 made of rubber or similar material is attached to the gripping portion 82, and is attached to the flat lateral surface between the gripping portion 82 and the gripping portion 84 on the other side of the second finger portions 21-24.

[0086] The state shown in Figures 6, 7, and 10 is the first state in which the second finger portions 21 to 24 are rotated by electric motors 25 to 28, and gripping portions 81 are provided at the ends of the second finger portions 21 to 24.

[0087] In the first state, the posture of the second finger portions 21 to 24 is set such that the gripping portions 81 of the second finger portions 21 to 24 extend beyond the ends of the arm portions 20 of the first finger portions 11 to 14 and are positioned on the side away from the hand base 1 and the finger bases 31 to 34.

[0088] When the second finger portions 21-24 are rotated 180 degrees by electric motors 25-28, as shown in Figure 12, from the states shown in Figures 6, 7, and 10, a second state is selected in which gripping portions 82 are provided at the ends of the second finger portions 21-24.

[0089] In the second state, the posture of the second finger portions 21 to 24 is set such that the gripping portions 82 of the second finger portions 21 to 24 extend beyond the ends of the arm portions 20 of the first finger portions 11 to 14 and are positioned on the side away from the hand base 1 and the finger bases 31 to 34.

[0090] As shown in Figures 6 and 7, the second finger portions 21-24 can be detached from the drive shaft 30, reversed, and reattached to the drive shaft 30. In this state, the second finger portions 21-24 are rotated by electric motors 25-28, thereby selecting a third state in which gripping portions 83 are provided at the ends of the second finger portions 21-24, and a fourth state in which gripping portions 84 are provided at the ends of the second finger portions 21-24.

[0091] The states shown in Figures 10 and 12 represent a predetermined posture A1 in which the first finger portions 11-14 and the second finger portions 21-24 are aligned in a straight line, with the posture of the second finger portions 21-24 set accordingly. By slightly operating the electric motors 25-28, the posture of the second finger portions 21-24 can be changed from the predetermined posture A1 to a position slightly closer to the object M. The posture of the second finger portions 21-24 can also be changed from the predetermined posture A1 to a position slightly further away from the object M.

[0092] (First gripping posture in gripping mode of the first finger portions 11-14 and second finger portions 21-24) The state shown in Figures 1, 2, and 3 is the state in which the hand device grips an object M, and the first finger portions 11-14 and second finger portions 21-24 are set to the first gripping posture. The support mechanisms 40, 50, 60, and 70 are operated by electric motors 9 and 10 as described below to set the first gripping posture.

[0093] As shown in Figures 2 to 4, the electric motor 9 operates the operating arm 45 and link 48 of the support mechanism 40 in the clockwise direction in Figure 3, the operating arm 55 and link 58 of the support mechanism 50 in the counterclockwise direction in Figure 3, the operating arm 65 and link 68 of the support mechanism 60 in the clockwise direction in Figure 3, and the operating arm 75 and link 78 of the support mechanism 70 in the counterclockwise direction in Figure 3.

[0094] The electric motor 10 operates the operating arms 66 and 67 of the support mechanism 60 in a clockwise direction in Figure 2, the operating arms 76 and 77 of the support mechanism 70 in a counterclockwise direction in Figure 2, the operating arms 46 and 47 of the support mechanism 40 in a clockwise direction in Figure 2, and the operating arms 56 and 57 of the support mechanism 50 in a counterclockwise direction in Figure 2.

[0095] As shown in Figures 2 and 3, the positions of the finger bases 31 to 34 are set by the operations described above. When viewed from the longitudinal direction of the first finger portions 11 to 14 and the second finger portions 21 to 24, the operating arm 45 and link 48 of the support mechanism 40 and the operating arm 75 and link 78 of the support mechanism 70 overlap in a way that they intersect. The operating arm 55 and link 58 of the support mechanism 50 and the operating arm 65 and link 68 of the support mechanism 60 overlap in a way that they intersect.

[0096] The operating arms 46, 47 and link 48 of the support mechanism 40, the operating arms 56, 57 and link 58 of the support mechanism 50, the operating arms 66, 67 and link 68 of the support mechanism 60, and the operating arms 76, 77 and link 78 of the support mechanism 70 are positioned to extend radially outward from the hand base 1, thereby setting the first gripping position.

[0097] In the first gripping position, when the gripping portions 81 of the second finger portions 21-24 are selected, the first finger portion 11 and the second finger portions 24-24 (gripping portions 81) face the center of the hand base 1. The first finger portion 11 and the second finger portion 21 (gripping portions 81) face the first finger portion 13 and the second finger portion 23 (gripping portions 81). The first finger portion 12 and the second finger portion 22 (gripping portions 81) face the first finger portion 14 and the second finger portion 24 (gripping portions 81).

[0098] As will be described later, in the first gripping position, when the first finger portions 11-14 are operated by electric motors 15-18 in a direction that brings them closer to each other around the axis P11-P14, each of the first finger portions 11-14 and the second finger portions 21-24 are operated toward the center of the hand base 1, and the object M is gripped by the gripping portions 81-84 of the second finger portions 21-24.

[0099] (Second gripping posture in gripping mode of the first finger portions 11-14 and the second finger portions 21-24) The state shown in Figure 13 is the state in which the hand device grips an object M, and the first finger portions 11-14 and the second finger portions 21-24 are set to the second gripping posture. The support mechanisms 40, 50, 60, and 70 are operated by electric motors 9 and 10 as described below to set the second gripping posture.

[0100] As shown in Figures 2 to 4, the electric motor 9 operates the operating arm 45 and link 48 of the support mechanism 40 in the counterclockwise direction in Figure 3, the operating arm 55 and link 58 of the support mechanism 50 in the clockwise direction in Figure 3, the operating arm 65 and link 68 of the support mechanism 60 in the counterclockwise direction in Figure 3, and the operating arm 75 and link 78 of the support mechanism 70 in the clockwise direction in Figure 3.

[0101] The electric motor 10 operates the operating arms 66 and 67 of the support mechanism 60 in a counterclockwise direction in Figure 2, the operating arms 76 and 77 of the support mechanism 70 in a clockwise direction in Figure 2, the operating arms 46 and 47 of the support mechanism 40 in a counterclockwise direction in Figure 2, and the operating arms 56 and 57 of the support mechanism 50 in a clockwise direction in Figure 2.

[0102] As shown in Figure 13, the positions of the finger bases 31-34 are set by the aforementioned operation. Viewed from the longitudinal direction of the first finger portions 11-14 and the second finger portions 21-24, the operating arms 45 and 55 of the support mechanisms 40 and 50 are aligned in a straight line, facing in opposite directions. The operating arms 65 and 75 of the support mechanisms 60 and 70 are aligned in a straight line, facing in opposite directions.

[0103] The second gripping posture is set when the first finger portion 11 and the second finger portion 21 face each other, and the first finger portion 14 and the second finger portion 24 face each other, and the first finger portion 12 and the second finger portion 22 face each other, and the first finger portion 13 and the second finger portion 23 face each other.

[0104] As will be described later, in the second gripping position, when the first finger portions 11 to 14 are operated by electric motors 15 to 18 in a direction that brings them closer to each other around the axis P11 to P14, the opposing first finger portions 11 and 21 and the first finger portions 14 and 24 move closer to each other, and the opposing first finger portions 12 and 22 and the first finger portions 13 and 23 move closer to each other, and the object M is gripped by the gripping portions 81 to 84 of the second finger portions 21 to 24.

[0105] (Changing the spacing W between adjacent first finger portions 11-14 and second finger portions 21-24 in the second gripping posture) In the second gripping posture shown in Figure 13, the operating arms 47, 57, 67, and 77 of the support mechanisms 40, 50, 60, and 70 are in contact with the vertical wall portion 4 of the hand base 1, and the spacing W between adjacent second finger portions 21, 24 and second finger portions 22, 23 is at its narrowest.

[0106] With the electric motor 9 stopped (the operating arms 45, 55, 65, and 75 of the support mechanisms 40, 50, 60, and 70 stopped in the positions shown in Figure 13), as shown in Figures 13 to 14, when the electric motor 10 (see Figure 5) operates the operating arms 66 and 67 of the support mechanism 60 in the clockwise direction in Figure 14, the link 68 of the support mechanism 60 is operated in the clockwise direction in Figure 14.

[0107] Consequently, the operating arms 76, 77 and link 78 of the support mechanism 70 are operated in the counterclockwise direction in Figure 14. The operating arms 46, 47 and link 48 of the support mechanism 40 are operated in the clockwise direction in Figure 14. The operating arms 56, 57 and link 58 of the support mechanism 50 are operated in the counterclockwise direction in Figure 14. The adjacent second finger portions 21, 24 and second finger portions 22, 23 move in parallel in a direction away from each other, and the gap W increases.

[0108] As a result, when the electric motor 9 is stopped (when the operating arms 45, 55, 65, 75 of the support mechanisms 40, 50, 60, 70 are stopped in the positions shown in Figures 13 and 14), the electric motor 10 (see Figure 5) operates the support mechanism 60, thereby changing the distance W between adjacent second finger portions 21, 24 and second finger portions 22, 23.

[0109] When moving from the second gripping position shown in Figures 13 and 14 to the first gripping position shown in Figures 2 and 3, as shown in Figure 13, the electric motor 10 (see Figure 5) operates to the narrowest distance W, and then, as shown in Figures 2 and 3, the electric motors 9 and 10 (see Figures 4 and 5) operate to move from Figure 13 to the first gripping position.

[0110] (Gripping state of object M in gripping mode) The state in which object M is gripped by the hand device in the gripping modes of the first gripping posture and the second gripping posture shown in Figures 2, 3, 13, and 14 will be described below.

[0111] The state shown in Figure 10 is the first state in which the second finger portions 21-24 are set to a predetermined position A1 and gripping portions 81 are provided at the ends of the second finger portions 21-24. From the state shown in Figure 10, when the first finger portions 11-14 and the second finger portions 21-24 are operated toward the object M by electric motors 15-18, the gripping portions 81 of the second finger portions 21-24 come into contact with the object M, as shown in Figure 11. The impact when the gripping portions 81 of the second finger portions 21-24 come into contact with the object M is mitigated by the slight stretching of the transmission belt 38 (see Figures 6 and 7).

[0112] After the gripping portion 81 of the second finger portions 21 to 24 comes into contact with the object M, the first finger portions 11 to 14 are moved toward the object M, while the second finger portions 21 to 24 remain in the position where the gripping portion 81 came into contact with the object M, the first finger portions 11 to 14 are moved toward the object M.

[0113] In this case, with the electric motors 25-26 shown in Figures 6 and 7 stopped, the transmission belt 38 extends, allowing the first finger portions 11-14 to be operated toward the object M, as shown in Figure 11. Due to the biasing force caused by the extension of the transmission belt 38, the gripping portions 81 of the second finger portions 21-24 are pressed against the object M, and the object M is gripped by the gripping portions 81 of the second finger portions 21-24.

[0114] As shown in Figure 11, when an object M is grasped by the gripping portions 81 of the second finger portions 21 to 24 and the operation of the first finger portions 11 to 14 toward the object M is stopped, the second finger portions 21 to 24 are operated by the electric motors 25 to 28 (see Figures 6 and 7) to move the gripping portions 81 of the second finger portions 21 to 24 slightly away from the object M (to the side where the transmission belt 38 (see Figures 6 and 7) loosens slightly). This weakens the biasing force caused by the stretching of the transmission belt 38, and prevents the gripping portions 81 of the second finger portions 21 to 24 from being strongly pressed against the object M.

[0115] As shown in Figure 10, for example, when grasping a small object M, the electric motors 25-28 (see Figures 6 and 7) can be used to change the position of the second fingers 21-24 from a predetermined position A1 to a position slightly closer to the object M. For example, when grasping a large object M, the electric motors 25-28 can be used to change the position of the second fingers 21-24 from a predetermined position A1 to a position slightly further away from the object M.

[0116] When gripping another object M, it is preferable to select a second state in which gripping portions 82 are provided at the ends of the second finger portions 21 to 24 by electric motors 25 to 28 (see Figures 6 and 7), as shown in Figure 12.

[0117] A third state is selected in which gripping portions 83 are provided at the ends of the second finger portions 21-24 by removing the second finger portions 21-24 from the drive shaft 30, reversing them, and attaching them to the drive shaft 30, or a fourth state is selected in which gripping portions 84 are provided at the ends of the second finger portions 21-24. In the second, third, and fourth states described above, the same conditions as described above occur when gripping an object M, as shown in Figure 11.

[0118] (Working Modes of First Fingers 11-14 and Second Fingers 21-24) The states shown in Figures 15 and 16 indicate that the hand device has been switched to working mode and that the first fingers 11-14 and second fingers 21-24 are set to working positions. The states shown in Figures 15 and 16 also indicate that a fifth state has been selected in which working parts 85 are provided at the ends of the second fingers 21-24.

[0119] As shown in Figure 13, the first finger portions 11-14 and the second finger portions 21-24 are set to the narrowest distance W in the second gripping posture of the gripping mode, and the gripping portion 81 of the second finger portions 21-24 is selected. In this state, the first finger portions 11-14 and the second finger portions 21-24 are operated by electric motors 15-18, 25-28 (see Figures 6 and 7) as described below to set the working posture (fifth state).

[0120] As shown in Figures 15 and 16, the second finger portion 22 is operated clockwise in Figure 15 by an electric motor 26 (see Figures 6 and 7), and the second finger portion 23 is operated counterclockwise in Figure 15 by an electric motor 27 (see Figures 6 and 7), so that the working portions 85 of the second finger portions 22 and 23 are aligned with each other.

[0121] When the first fingers 12 and 13 are operated by electric motors 16 and 17 to move toward each other, and the gripping portions 81 of the second fingers 22 and 23 face each other, and the gripping portions 84 of the second fingers 22 and 23 face each other, and the second fingers 22 and 23 are in contact with each other in a parallel position, the first fingers 12 and 13 and the second fingers 22 and 23 stop.

[0122] The second finger portion 21 is operated clockwise in Figure 15 by the electric motor 25, the second finger portion 24 is operated counterclockwise in Figure 15 by the electric motor 28, and the first finger portions 12 and 14 are operated by electric motors 15 and 18 in a direction that brings them closer to each other.

[0123] When the gripping portions 81 of the second finger portions 21 and 24 approach the gripping portions 83 of the second finger portions 22 and 23, and the gripping portions 84 of the second finger portions 21 and 24 approach the gripping portions 82 of the second finger portions 22 and 23, the second finger portions 21 and 22 become parallel to each other, and the second finger portions 23 and 24 become parallel to each other, the first finger portions 11 and 14 and the second finger portions 21 and 24 stop. Through the above operation, the first finger portions 11 to 14 and the second finger portions 21 to 24 are set to a working position (fifth state) in which the working portions 85 of the second finger portions 21 to 24 are aligned close to each other.

[0124] The entire hand device is moved by the robot arm, allowing the working parts 85 of the second fingers 21-24 to perform tasks such as pushing soil and stones from the ground to level the ground, or pushing and moving luggage placed on the floor. When the hand device is operated to the right in Figure 16, the concave working parts 85 of the second fingers 21-24 are activated. When the hand device is operated to the left in Figure 16, the convex working parts 85 of the second fingers 21-24 are activated.

[0125] (First alternative embodiment of the invention) The second finger portions 21-24, electric motors 25-28 and transmission belt 38, etc. may be eliminated, and the gripping portions 81-84 and working portion 85 may be provided on the first finger portions 11-14.

[0126] (Second alternative embodiment of the invention) In the work mode shown in Figures 15 and 16, the first finger portions 11, 12, 13 and the second finger portions 21, 22, 23 may be set to a working position such that the working portions 85 of the three second finger portions 21, 22, 23 are arranged in a line.

[0127] In the work modes shown in Figures 15 and 16, the first finger portions 11, 12, 14 and the second finger portions 21, 22, 24 may be set to a working position such that the working portions 85 of the three second finger portions 21, 22, 24 are aligned.

[0128] (Third alternative embodiment of the invention) In the working mode shown in Figures 15 and 16, the first fingers 11, 14 and the second fingers 21, 24 may be set to the working position by operating them so that the gripping portions 81 of the second fingers 21, 24 face each other, the gripping portions 84 of the second fingers 21, 24 face each other, and the second fingers 21, 24 are in contact with each other in a parallel position.

[0129] In the above configuration, it is preferable that the first fingers 12, 13 and the second fingers 22, 23 be operated such that the gripping portion 81 of the second fingers 22, 23 approaches the gripping portion 83 of the second fingers 21, 24, the gripping portion 84 of the second fingers 22, 23 approaches the gripping portion 82 of the second fingers 21, 24, the second fingers 21, 22 are in a position parallel to each other, and the second fingers 23, 24 are in a position parallel to each other.

[0130] In this case, as in the second alternative embodiment of the invention described above, the first finger portions 11, 12, 14 and the second finger portions 21, 22, 24 may be set to a working position. The first finger portions 11, 13, 14 and the second finger portions 21, 23, 24 may be set to a working position.

[0131] (Fourth Alternative Embodiment of the Invention) As shown in Figure 14, when the distance W between adjacent second finger portions 21, 24 and second finger portions 22, 23 is relatively large, the second finger portions 21 to 24 may be set to a working position by setting the second finger portions 22, 23 to be in contact with each other in a parallel position, as shown in Figures 15 and 16, setting the second finger portions 21, 22 to be in a parallel position, and setting the second finger portions 23, 24 to be in a parallel position.

[0132] (Fifth alternative embodiment of the invention) Six sets of first finger portions 11 to 14 and six sets of second finger portions 21 to 24, and six sets of finger base portions 31 to 34 may be provided.

[0133] According to the above configuration, a pair of finger bases 31-34 are fixed to the hand base 1 so as to face each other, and the finger bases 31-34 are attached to the hand base 1 via support mechanisms 40 and 50 on both sides of one fixed finger base 31-34, and the finger bases 31-34 are attached to the hand base 1 via support mechanisms 60 and 70 on both sides of the other fixed finger base 31-34.

[0134] This results in three sets of opposing finger bases 31-34 (first finger portions 11-14 and second finger portions 21-24). Of the three sets of finger bases 31-34, two sets are operated by support mechanisms 40, 50, 60, and 70 to obtain a gripping mode (first gripping posture and second gripping posture) and a work mode (working posture) using the three sets of finger bases 31-34.

[0135] (Sixth Alternative Embodiment of the Invention) In the above-described (Fifth Alternative Embodiment of the Invention), the first finger portions 11-14 and the second finger portions 21-24 are set to a working position so that six working portions 85 of the second finger portions 21-24 are arranged in a line. In this case, as in the above-described (Second Alternative Embodiment of the Invention), five first finger portions 11-14 and five second finger portions 21-24 may be set to a working position.

[0136] (Correspondence of each part) - 1. The first finger parts 11, 12, 13, 14 and the second finger parts 21, 22, 23, 24 correspond to the finger parts. The electric motor 9 corresponds to the switching motor. The electric motor 10 corresponds to the switching motor and the change motor. The interlocking gears 43, 53, 63, 73 correspond to the switching interlocking mechanism. The interlocking gears 44, 54, 64, 74 correspond to the switching interlocking mechanism and the change interlocking mechanism. The shafts P11, P12, P13, P14 correspond to the first shafts. The shafts P21, P22, P23, P24 correspond to the second shafts.

[0137] (Correspondence of each part) - 2. The hand base 1 is provided with a hand base 1 and a plurality of finger parts (first finger parts 11-14, second finger parts 21-24) provided on the hand base 1. The finger parts (first finger parts 11-14, second finger parts 21-24) are provided with gripping parts 81-84 and working parts 85 are provided on the finger parts (first finger parts 11-14, second finger parts 21-24) in a different part from the gripping parts 81-84. The finger parts (first finger parts 11-14, second finger parts 21-24) can be switched between a gripping posture in which an object M is gripped by the gripping parts 81-84 by operating the finger parts (first finger parts 11-14, second finger parts 21-24) in a direction that brings them closer to each other, and a working posture in which the working parts 85 are arranged and work is performed by the working parts 85.

[0138] (Correspondence between parts) - 3 The finger parts (first finger parts 11-14, second finger parts 21-24) are provided on the hand base 1 so as to be able to swing around a first axis (axis P11-P14), and the second finger parts 21-24 are provided on the first finger parts 11-14 so as to be able to swing around a second axis (axis P21-P24) which is along the first axis (axis P11-P14), and the second finger parts 21-24 are provided on the first finger parts 11-14 so as to be able to swing around a second axis (axis P21-P24), and the gripping parts 81-84 and the working part 85 are provided on them. By operating the second finger parts 21-24 so that the working parts 85 are aligned with each other, and by operating the first finger parts 11-14 so that the working parts 85 are lined up close to each other, at least three second finger parts 21-24 are set to a working position.

[0139] (Correspondence of each part) - 4. Multiple support mechanisms 40, 50, 60, and 70 are provided on the hand base 1 and extend outward from the hand base 1. Multiple finger bases 31 to 34 are provided on each of the support mechanisms 40, 50, 60, and 70. Fingers (first finger parts 11 to 14, second finger parts 21 to 24) are provided on the finger bases 31 to 34. By operating the support mechanisms 40, 50, 60, and 70, the positions of the finger bases 31 to 34 are set so that the finger parts (first finger parts 11 to 14, second finger parts 21 to 24) are set to a gripping position, and the positions of the finger bases 31 to 34 are set so that the finger parts (first finger parts 11 to 14, second finger parts 21 to 24) are set to a working position.

[0140] (Relationship between parts) - 5 Switching motors (electric motors 9, 10) are provided to switch the finger parts (first finger parts 11-14, second finger parts 21-24) between a gripping position and a working position by operating the support mechanisms 40, 50, 60, and 70.

[0141] The switching motors (electric motors 9 and 10) operate specific support mechanisms 40 and 60 out of a plurality of support mechanisms 40, 50, 60, and 70. A switching interlocking mechanism (interlocking gears 43, 44, 53, 54, 63, 64, 73, and 74) is provided to interlock the operation of the support mechanisms 40 and 60 operated by the switching motors (electric motors 9 and 10) with the operation of the other support mechanisms 40, 50, 60, and 70 by transmitting the operation of the support mechanisms 40 and 60 operated by the switching motors (electric motors 9 and 10) to the other support mechanisms 40, 50, 60, and 70.

[0142] (Correspondence between parts) - 6 The gripping posture has a first gripping posture in which the positions of the finger bases 31 to 34 are set by operating the support mechanisms 40, 50, 60, and 70, so that each of the gripping parts 81 to 84 faces the center of the hand base 1, and the finger parts (first finger parts 11 to 14, second finger parts 21 to 24) are operated in a direction that brings them closer to each other toward the center of the hand base 1.

[0143] The gripping posture includes a second gripping posture in which the positions of the finger bases 31-34 are set by operating the support mechanisms 40, 50, 60, and 70, the gripping parts 81-84 face each other, and the opposing finger parts (first finger parts 11-14, second finger parts 21-24) are operated in a direction that brings them closer to each other.

[0144] (Correspondence between parts) - 7 In the second gripping position, at least two pairs of finger parts (first finger parts 11-14, second finger parts 21-24) are formed where the gripping parts 81-84 face each other. The spacing W between adjacent pairs of finger parts (first finger parts 11-14, second finger parts 21-24) is changed by operating the support mechanisms 40, 50, 60, and 70.

[0145] (Relationship between parts) - 8 A changing motor (electric motor 10) is provided that changes the spacing W of adjacent finger parts (first finger parts 11-14, second finger parts 21-24) by operating the support mechanisms 40, 50, 60, and 70.

[0146] The change motor (electric motor 10) operates a specific support mechanism 60 among the multiple support mechanisms 40, 50, 60, and 70. A change interlocking mechanism (interlocking gears 44, 54, 64, 74) is provided to synchronize the operation of the support mechanism 60 operated by the change motor (electric motor 10) with the operation of the other support mechanisms 40, 50, 60, and 70 by transmitting the operation of the support mechanism 60 operated by the change motor (electric motor 10) to the other support mechanisms 40, 50, 60, and 70.

[0147] (Correspondence of each part) - 9 The hand base 1, a plurality of finger parts (first finger parts 11-14, second finger parts 21-24) provided on the hand base 1, gripping parts 81-84 provided on the finger parts (first finger parts 11-14, second finger parts 21-24), and a working part 85 provided on the finger parts (first finger parts 11-14, second finger parts 21-24) in a part different from the gripping parts 81-84, and the finger parts (first finger parts 11-14, second finger parts 21-24) are operated in a direction that brings the finger parts (first finger parts 11-14, second finger parts 21-24) closer to each other. In a hand device that can switch between a gripping posture in which an object M is gripped by gripping parts 81-84 and a working posture in which a working part 85 is positioned and work is performed by the working part 85, the device has a gripping mode in which the object M is gripped by gripping parts 81-84 by operating the fingers (first fingers 11-14, second fingers 21-24) set in the gripping posture toward each other, and a working mode in which work is performed by the working part 85 of the fingers (first fingers 11-14, second fingers 21-24) set in the working posture. In the working mode, work is performed by pushing and manipulating crops and soil with the working part 85.

[0148] This invention can be applied to handheld devices.

[0149] 1 Hand base 9 Electric motor (switching motor) 10 Electric motor (switching motor) (change motor) 11-14 First finger part (finger part) 21-24 Second finger part (finger part) 31-34 Finger base 40 Support mechanism 43 Interlocking gear (switching interlocking mechanism) 44 Interlocking gear (switching interlocking mechanism) (change interlocking mechanism) 50 Support mechanism 53 Interlocking gear (switching interlocking mechanism) 54 Interlocking gear (switching interlocking mechanism) (change interlocking mechanism) 60 Support mechanism 63 Interlocking gear (switching interlocking mechanism) 64 Interlocking gear (switching interlocking mechanism) (change interlocking mechanism) 70 Support mechanism 73 Interlocking gear (switching interlocking mechanism) 74 Interlocking gear (switching interlocking mechanism) (change interlocking mechanism) 81-84 Gripping part 85 Working part M Object P11-P14 Axis center (first axis) P21 to P24 Axis center (second axis) W Interval

Claims

1. A hand device comprising: a hand base; a plurality of finger portions provided on the hand base; gripping portions provided on the finger portions; and working portions provided on the finger portions in a portion different from the gripping portions, wherein the finger portions are switchable between a gripping posture in which an object is gripped by the gripping portions by operating the finger portions toward each other, and a working posture in which work is performed by the working portions arranged side by side.

2. The hand device according to claim 1, wherein the finger portion comprises a first finger portion provided on the hand base so as to be pivotable around a first axis, and a second finger portion provided on the first finger portion so as to be pivotable around a second axis along the first axis, and on which the gripping portion and the working portion are provided, and at least three of the second finger portions are set to the working position by operating the second finger portions so that the working portions are aligned with each other, and operating the first finger portions so that the working portions are lined up close to each other.

3. The hand device according to claim 1 or 2, comprising a plurality of support mechanisms provided on the hand base and extending outward from the hand base, and a plurality of finger bases provided on each of the support mechanisms, wherein the finger portion is provided on the finger base, and the position of the finger base is set so that the finger portion is set to the gripping position by operating the support mechanism, and the position of the finger base is set so that the finger portion is set to the working position.

4. The hand device according to claim 3, further comprising a switching motor that switches the finger portion between the gripping position and the working position by operating the support mechanism.

5. The hand device according to claim 4, wherein the switching motor is provided with a switching interlocking mechanism that operates a specific support mechanism among a plurality of support mechanisms and transmits the operation of the support mechanism operated by the switching motor to the other support mechanisms, thereby linking the operation of the support mechanism operated by the switching motor with the operation of the other support mechanisms.

6. The hand device according to any one of claims 3 to 5, wherein the gripping posture is characterized by: a first gripping posture in which the position of the finger bases is set by operating the support mechanism, so that each of the gripping parts faces the center of the hand base and the finger parts are operated in a direction that brings them closer to each other toward the center of the hand base; and a second gripping posture in which the position of the finger bases is set by operating the support mechanism, so that the gripping parts face each other and the facing finger parts are operated in a direction that brings them closer to each other.

7. The hand device according to claim 6, wherein in the second gripping position, at least two pairs of the finger portions are formed in which the gripping portion faces each other, and the spacing between adjacent pairs of finger portions is changed by operating the support mechanism.

8. The hand device according to claim 7, further comprising a changing motor that changes the spacing between adjacent pairs of fingers by operating the support mechanism.

9. The hand device according to claim 8, wherein the changing motor is provided with a changing interlocking mechanism that operates a specific support mechanism among a plurality of support mechanisms and transmits the operation of the support mechanism operated by the changing motor to the other support mechanisms, thereby linking the operation of the support mechanism operated by the changing motor with the operation of the other support mechanisms.

10. A hand device comprising a hand base, a plurality of finger portions provided on the hand base, gripping portions provided on the finger portions, and working portions provided on parts of the finger portions different from the gripping portions, wherein the finger portions are switchable between a gripping posture in which an object is gripped by the gripping portions by operating the finger portions toward each other, and a working posture in which work is performed by the working portions arranged side by side, wherein the hand device has a gripping mode in which an object is gripped by the gripping portions by operating the finger portions set in the gripping posture toward each other, and a working mode in which work is performed by the working portions of the finger portions set in the working posture.

11. The method of operating the hand device according to claim 10, wherein in the work mode, the work unit is used to perform the operation of pushing crops and soil.

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