Hand device

Abstract

A hand device comprises: a plurality of finger portions 11-14, 21-24 that are provided to a hand base part 1; first finger work sections 81, 83 that are provided to the finger portions 11-14, 21-24 and perform work; and second finger work sections 82, 84 that are provided to the finger portions 11-14, 21-24, perform work, and are different from the first finger work sections 81, 83. One of the first finger work sections 81, 83 and the second finger work sections 82, 84 can be selected according to the work.

Description

Hand device

[0001] The present invention relates to a hand device that is attached to a robot arm or the like and performs work.

[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 approaching each other, an object is gripped by the finger portions. In the hand device of Patent Document 1, gripping an object is the main work. Also, by operating the plurality of finger portions in a direction approaching each other, an object is gripped by the finger portions, and by operating the plurality of finger portions in a direction separating from each other, the finger portions are separated from the object.

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

[0004] In a hand device, it is desired to enhance the versatility of the hand device by enabling a plurality of types of work to be performed. The first object of the present invention is to improve the versatility of the hand device by enabling a plurality of types of work to be performed in the hand device. Also, the hand device of Patent Document 1 is suitable for repeatedly gripping objects of the same size, such as parts on a production line, by the finger portions. In contrast, there is an increasing demand for a hand device that can appropriately grip objects of different sizes, such as agricultural crops, by the finger portions. The second object of the present invention is to configure the hand device so that objects of different sizes can be appropriately gripped by the finger portions.

[0005] The hand device of the present invention for achieving the above first object includes a hand base portion, a plurality of finger portions provided on the hand base portion, a first finger working portion provided on the finger portion and performing work, and a second finger working portion provided on the finger portion, performing work and different from the first finger working portion, and one of the first finger working portion and the second finger working portion can be selected according to the work.

[0006] According to the present invention, a first finger work section and a second finger work section, which are different from each other, are provided on the finger. When the first finger work section is selected, the hand device can perform work suitable for the first finger work section. When the second finger work section is selected, the hand device can perform work suitable for the second finger work section. In this case, the work suitable for the first finger work section and the work suitable for the second finger work section are different from each other. As a result, by selecting either the first finger work section or the second finger work section according to the work to be performed by the hand device, the hand device can perform multiple different types of work without difficulty, thereby improving the versatility of the hand device.

[0007] Furthermore, in the present invention for achieving the first objective described above, the finger portion has a plurality of first finger portions provided on the hand base and a plurality of second finger portions provided on each of the first finger portions, the first finger work portion and the second finger work portion are provided on each of the second finger portions, and it is preferable that one of the first finger work portion and the second finger work portion is selected by rotating the second finger portion relative to the first finger portion to change the posture of the second finger portion.

[0008] According to the present invention, a first finger portion is provided on the hand base, a second finger portion is provided on the first finger portion, and a first finger work portion and a second finger work portion are provided on the second finger portion. By rotating the second finger portion, the posture of the second finger portion is changed, and either the first finger work portion or the second finger work portion is selected. As a result, the posture of the second finger portion is quickly changed by rotation, and either the first finger work portion or the second finger work portion is quickly selected, which is advantageous in terms of improving the versatility of the hand device.

[0009] Furthermore, in the present invention for achieving the first objective described above, it is preferable that the first finger portion is provided on the hand base so as to be able to swing around a first axis, and the second finger portion is provided on the first finger portion so as to be able to rotate around a second axis along the first axis, and that the position of the second finger portion is changed by rotating the second finger portion around the second axis.

[0010] According to the present invention, when the first finger portion is provided on the hand base so as to be able to swing around a first axis, the posture of the second finger portion is changed by rotating the second finger portion around a second axis along the first axis. As a result, when the second finger portion is rotated, the second finger portion does not move laterally outward from the swing trajectory of the first finger portion very often, so that the second finger portion does not come into contact with the adjacent first and second fingers.

[0011] Furthermore, in the present invention for achieving the first objective described above, the second finger portion is configured to extend from the second axis toward one side and the other side along a direction intersecting the second axis, and it is preferable that the position of the second finger portion is set such that, with one of the first finger portion and the second finger portion selected, the selected one of the first finger portion and the second finger portion is located on the side that extends beyond the end of the first finger portion and moves away from the hand base.

[0012] According to the present invention, the second finger portion extends from the second axis toward one side and the other side along a direction intersecting the second axis. When the first finger working portion is selected, the first finger working portion extends beyond the end of the first finger portion. When the second finger working portion is selected, the second finger working portion extends beyond the end of the first finger portion.

[0013] According to the present invention, the unselected first or second finger work portion faces away from the selected first or second finger work portion and does not extend beyond the end of the first finger portion, thus having little effect on the operation of the selected first or second finger work portion. In other words, the unselected first or second finger work portion is less affected by the operation of the selected first or second finger work portion.

[0014] This is advantageous in terms of improving the versatility of the hand device, as it means that the unselected first or second finger work section has little impact on the work of the selected first or second finger work section, and the unselected first or second finger work section is little affected by the work of the selected first or second finger work section.

[0015] Furthermore, in the present invention for achieving the first objective described above, it is preferable that, with one of the first finger working portion and the second finger working portion selected, the finger portions are operated in a direction that brings them closer to each other, thereby grasping an object with the selected one of the first finger working portion and the second finger working portion.

[0016] According to the present invention, when the first finger working portion is selected, the object is grasped by the first finger working portion by operating the finger portions in a direction that brings them closer together. When the second finger working portion is selected, the object is grasped by the second finger working portion by operating the finger portions in a direction that brings them closer together.

[0017] According to the present invention, depending on the shape and size of the object to be grasped, the first finger work section should be selected if it is suitable for grasping the object. If the object to be grasped is changed and the second finger work section becomes suitable for grasping the object, the first finger work section should be changed to the second finger work section. As a result, by selecting the first or second finger work section suitable for grasping the object depending on the object to be grasped, the hand device can grasp multiple types of objects with different shapes and sizes without difficulty, thereby improving the versatility of the hand device.

[0018] Furthermore, in the present invention for achieving the first objective described above, it is preferable that the first finger work portion and the second finger work portion are composed of different materials.

[0019] According to the present invention, for example, the first finger working part may be made of a hard material such as metal, or the second finger working part may be made of a soft material such as rubber. This makes it easier for the finger parts to handle a variety of tasks, which is advantageous in terms of improving the versatility of the hand device.

[0020] Furthermore, in the present invention for achieving the first objective described above, it is preferable that the first finger working portion and the second finger working portion are configured to have different shapes from each other.

[0021] According to the present invention, for example, the first finger working portion may be configured in a concave shape, the second finger working portion may be configured in a convex shape, or it may be configured to have a number of bumps and grooves. This makes it easier for the finger portion to handle a variety of tasks, which is advantageous in terms of improving the versatility of the hand device.

[0022] The hand device of the present invention for achieving the second objective described above comprises a hand base, a plurality of first finger portions provided on the hand base, a plurality of second finger portions provided on each of the first finger portions, a gripping portion provided on each of the second finger portions, and a first finger motor capable of operating the first finger portions. The device is configured such that when the first finger portions are operated by the first finger motor in a direction that brings them closer to each other, an object is gripped by the gripping portion. When the first finger portions are operated by the first finger motor in a direction that brings them closer to each other and the gripping portion comes into contact with an object, the second finger portions remain in the position where they are in contact with the object, and the device is provided with an elastic member that allows the first finger portions to be operated in a direction that brings them closer to each other relative to the second finger portions.

[0023] According to the present invention, for example, when grasping a large object, if the first finger portions are operated in a direction that brings them closer together, the gripping portion of the second finger portion makes contact slightly earlier. For example, when grasping a small object, if the first finger portions are operated in a direction that brings them closer together, the gripping portion of the second finger portion makes contact with the object slightly later.

[0024] After the gripping portion of the second finger comes into contact with an object, if the first finger is moved in a direction that brings them closer together, the second finger remains in the position where it was in contact with the object, and the elastic deformation of the elastic member allows the first finger to be moved in a direction that brings them closer together. The biasing force caused by the elastic deformation of the elastic member presses the gripping portion of the second finger against the object, and the object is gripped by the gripping portion of the second finger.

[0025] According to the present invention, regardless of the size of the object, whether the first finger portion is operated with a predetermined stroke in a direction approaching each other or at a predetermined speed, the object can be grasped effortlessly by the gripping portion of the second finger portion, thereby improving the gripping performance of the hand device. It is also expected that the impact when the gripping portion of the second finger portion contacts the object will be mitigated by the elastic member, making it suitable for grasping relatively soft objects such as agricultural products, and thus improving the gripping performance of the hand device in this respect as well.

[0026] In other words, the presence of elastic members means that the stroke used to move the first fingers toward each other does not need to be changed according to the size of the object, and the speed at which the first fingers are moved toward each other does not need to be changed according to the size of the object. As a result, the need for complex stroke control and speed control according to the size of the object is reduced when moving the first fingers toward each other, which simplifies the structure of the hand device.

[0027] Furthermore, in the present invention for achieving the second objective described above, it is preferable that the first finger portion is provided on the hand base so as to be able to swing around a first axis, and the second finger portion is provided on the first finger portion so as to be able to swing around a second axis along the first axis, and that a second finger portion motor is provided, and that the operation of the second finger portion motor is transmitted to the second finger portion via the elastic member, so that the second finger portion is operated around the second axis by the second finger portion motor.

[0028] According to the present invention, the operation of the second finger motor is transmitted to the second finger via an elastic member, thereby changing the posture of the second finger relative to the first finger. When the posture of the second finger before the gripping portion of the second finger contacts an object is changed to be closer to the object, a state suitable for gripping small objects can be obtained. When the posture of the second finger before the gripping portion of the second finger contacts an object is changed to be further away from the object, a state suitable for gripping large objects can be obtained.

[0029] As a result, in addition to the function of the elastic member, the range of object sizes that the hand device can grip is expanded by changing the posture of the second finger, which is advantageous in terms of improving the gripping performance of the hand device.

[0030] For example, when gripping relatively soft objects such as agricultural products, if the gripping portion of the second finger is strongly pressed against the object by the biasing force caused by the elastic deformation of the elastic member, there is a concern that the object may be damaged. In this case, by changing the position of the second finger to be further away from the object before contact, it is possible to avoid the gripping portion of the second finger being strongly pressed against the object, which is advantageous in terms of improving the gripping performance of the hand device.

[0031] Furthermore, in the present invention for achieving the second objective described above, the invention is provided with a drive shaft that drives the second finger portion to swing around the second axis, and a transmission belt that is attached across the second finger portion motor and the drive shaft, capable of transmitting the operation of the second finger portion motor to the drive shaft, and is elastic, wherein the transmission belt is preferably the elastic member.

[0032] According to the present invention, the operation of the second finger motor is transmitted to the drive shaft of the second finger via a transmission belt, which allows for a large change in the posture of the second finger without difficulty. This is advantageous in terms of widening the range of object sizes that the hand device can grasp, and thus in terms of improving the gripping performance of the hand device.

[0033] According to the present invention, the transmission belt has both the function of significantly changing the posture of the second finger and the function of an elastic member, so by using the same member for both purposes, it is advantageous in terms of simplifying the structure of the hand device.

[0034] 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.

[0035] (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).

[0036] 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.

[0037] Four sets of finger bases 31-34 are attached to support mechanisms 40, 50, 60, and 70, respectively. Four sets of first finger parts 11-14 are attached to each of the finger bases 31-34, and four sets of second finger parts 21-24 are attached to each of the first finger parts 11-14.

[0038] (Configuration of the hand base 1) As shown in Figures 2 to 4, the hand base 1 has a motor housing 2, a circuit board 3, 6, 8, a vertical wall 4, and housing sections 5, 7.

[0039] A disc-shaped substrate 3 is connected to a cylindrical motor housing 2, and a flat vertical wall 4 is connected to the substrate 3. A cylindrical housing 5 is connected to the vertical wall 4, and a flat substrate 6 is connected to the housing 5. A cylindrical housing 7 is connected to the substrate 6, and a flat substrate 8 is connected to the housing 7 at intervals. Electric motors 9 and 10 are arranged side by side inside the motor housing 2.

[0040] (Configuration of support mechanism 40 and finger base 31) As shown in Figures 2, 3, and 4, of the four sets of support mechanisms 40, 50, 60, and 70, support mechanism 40 has drive shafts 41 and 42, interlocking gears 43 and 44, operating arms 45, 46, and 47, a link 48, and a pivot shaft 49.

[0041] The drive shaft 41 is connected to the output shaft (not shown) of the electric motor 9 and extends from the base plate 3 to the housing 5 of the hand base 1, and the drive shaft 41 is rotated by the electric motor 9. The interlocking gear 43 is connected to the portion of the drive shaft 41 that is in the housing 5 of the hand base 1.

[0042] An operating arm 45 is connected to the portion of the drive shaft 41 between the base plate 3 and the housing 5 of the hand base 1, and a link 48 is pivotably attached to the portion of the end of the operating arm 45 that is on the base plate 3 side of the hand base 1. An operating arm 47 is rotatably attached to the drive shaft 41 to the portion of the drive shaft 41 between the operating arm 45 and the base plate 3 of the hand base 1.

[0043] 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 operation 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.

[0044] 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.

[0045] The fulcrum shaft 35 is attached across the operation arms 46 and 47, and the fulcrum shaft 36 is attached to the link 48. The finger base 31 is attached to the fulcrum shafts 35 and 36 and is attached to the support mechanism 40 via the fulcrum shafts 35 and 36.

[0046] (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 and 52, interlocking gears 53 and 54, operation arms 55, 56, and 57, a link 58, and a fulcrum shaft 59.

[0047] The drive shaft 51 is rotatably provided from the substrate 3 of the hand base 1 across 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 engaged.

[0048] The operation 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 of the end of the operation arm 55 on the side of the housing portion 5 of the hand base 1. The operation arm 57 is rotatably attached to the drive shaft 51 with respect to the drive shaft 51 at the portion between the operation arm 55 and the substrate 3 of the hand base 1.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] (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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] 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.

[0057] 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.

[0058] (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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] (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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] (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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] (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.

[0073] 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).

[0074] 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.

[0075] (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.

[0076] 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.

[0077] 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.

[0078] 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).

[0079] 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.

[0080] (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).

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] (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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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).

[0095] 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.

[0096] (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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] (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.

[0103] 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.

[0104] 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.

[0105] 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.

[0106] 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.

[0107] (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.

[0108] 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).

[0109] 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.

[0110] 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.

[0111] 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.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] (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.

[0116] 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).

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] (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.

[0123] (Second alternative embodiment of the invention) The gripping portion 81 may be configured in a concave shape, and the gripping portion 82 may be configured in a convex shape. The gripping portion 83 may be configured in a concave or convex shape having a number of small bumps and grooves, and the gripping portion 84 may be configured with a small number of protrusions, such as two or three.

[0124] Not all gripping parts 81 to 84 have to be configured with different shapes. For example, gripping part 81 and gripping part 83 may be configured with the same shape, and gripping part 82 and gripping part 84 may be configured with the same shape, so that gripping parts 81, 83 and gripping parts 82, 84 have different shapes.

[0125] In this case, the third state, in which the gripping portion 83 is provided at the ends of the second finger portions 21 to 24, is a first state equivalent to the first state, in which the gripping portion 81 is provided at the ends of the second finger portions 21 to 24. The fourth state, in which the gripping portion 84 is provided at the ends of the second finger portions 21 to 24, is a second state equivalent to the second state, in which the gripping portion 82 is provided at the ends of the second finger portions 21 to 24. The fifth state, in which the working portion 85 is provided at the ends of the second finger portions 21 to 24, can also be considered a second state. Thus, there are multiple first states and multiple second states.

[0126] (Third alternative embodiment of the invention) Instead of the flat, soft material 80 of the gripping portion 82, a rubber suction cup-shaped member may be provided on the gripping portion 82. All gripping portions 81 to 84 may be composed of different materials.

[0127] Not all gripping parts 81 to 84 are made of different materials. For example, gripping part 81 and gripping part 83 are made of the same material, and gripping part 82 and gripping part 84 are made of the same material, so that gripping parts 81, 83 and gripping parts 82, 84 are made of different materials.

[0128] In this case, the third state, in which the gripping portion 83 is provided at the ends of the second finger portions 21 to 24, is a first state equivalent to the first state, in which the gripping portion 81 is provided at the ends of the second finger portions 21 to 24. The fourth state, in which the gripping portion 84 is provided at the ends of the second finger portions 21 to 24, is a second state equivalent to the second state, in which the gripping portion 82 is provided at the ends of the second finger portions 21 to 24. The fifth state, in which the working portion 85 is provided at the ends of the second finger portions 21 to 24, can also be considered a second state. Thus, there are multiple first states and multiple second states.

[0129] (Fourth Alternative Embodiment of the Invention) For example, when an object M is grasped with the gripping portions 81 of the second finger portions 21 to 24 selected, not only the gripping portions 81 of the second finger portions 21 to 24 may contact the object M, but both the gripping portions 81 and 84 of the second finger portions 21 to 24 may contact the object M. In this case, both gripping portions 81 and 84 of the second finger portions 21 to 24 are selected.

[0130] (Fifth Alternative Embodiment of the Invention) Instead of selecting the same first to fifth states for all second finger portions 21 to 24, it is also possible for different first to fifth states to be selected for each of the second finger portions 21 to 24 depending on the task. In this case, for example, it is assumed that the first state is selected for second finger portions 21 and 23, and the second state is selected for second finger portions 22 and 24.

[0131] (Sixth alternative embodiment of the invention) The second finger portions 21 to 24 may be attached to the first finger portions 11 to 14 so as to be rotatable around axes P21 to P24 that are perpendicular to the axes P11 to 14.

[0132] In the above-described configuration, the second finger portions 21 to 24 may be configured in an X shape, and two sets of gripping portions 81 extending from the axis P21 to P24 to one side and two sets of gripping portions 82 extending from the axis P21 to P24 to the opposite side may be provided on the second finger portions 21 to 24.

[0133] In the configuration described above, the second finger portions 21 to 24 may be arranged in a cross shape, and four sets of gripping portions 81 to 84 may extend from the axis P21 to P24. With this configuration, by rotating the second finger portions 21 to 24 around the axis P21 to P24, one set of gripping portions 81 to 84 is selected from the four sets of gripping portions 81 to 84, and the first to fourth states are selected.

[0134] (Seventh alternative embodiment of the invention) The transmission belt 38 and tension pulley 37 may be eliminated, and a coil spring (not shown) may be provided as an elastic member.

[0135] In the above configuration, it is preferable that the coil spring is wrapped around the drive shaft 30, one end of the coil spring is attached to the drive shaft 30, and the other end of the coil spring is connected to the electric motors 25-28. When the coil spring is rotated around the drive shaft 30 by the electric motors 25-28, the operation of the electric motors 25-28 is transmitted to the drive shaft 30 via the coil spring, causing the drive shaft 30 and the second finger portions 21-24 to rotate.

[0136] (Eighth Alternative Embodiment of the Invention) When the transmission belt 38 and tension pulley 37 are abolished and a coil spring (not shown) is provided as an elastic member, the electric motors 25-28 may be abolished. In the above configuration, the coil spring is preferably wrapped around the drive shaft 30, one end of the coil spring is attached to the drive shaft 30, and the other end of the coil spring is fixed to the first finger portions 11-14.

[0137] (Correspondence between parts) - 1. The gripping parts 81 and 83 correspond to the first finger working parts of the second finger parts 21 to 24. The gripping parts 82 and 84 and the working part 85 correspond to the second finger working parts of the second finger parts 21 to 24. The shafts P11, P12, P13, and P14 correspond to the first shafts. The shafts P21, P22, P23, and P24 correspond to the second shafts.

[0138] (Correspondence between parts) - 2 The 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 are provided. First finger work parts (gripping parts 81, 83) are provided on the finger parts (first finger parts 11-14, second finger parts 21-24) for performing work. Second finger work parts (gripping parts 82, 84, work part 85) are provided on the finger parts (first finger parts 11-14, second finger parts 21-24) for performing work and are different from the first finger work parts (gripping parts 81, 83). Either the first finger work parts (gripping parts 81, 83) or the second finger work parts (gripping parts 82, 84, work part 85) can be selected according to the work.

[0139] (Correspondence between parts) - 3 The finger section (first finger sections 11-14, second finger sections 21-24) has a plurality of first finger sections 11-14 provided on the hand base 1, and a plurality of second finger sections 21-24 provided on each of the first finger sections 11-14. The first finger work section (gripping section 81, 83) and the second finger work section (gripping section 82, 84, work section 85) are provided on each of the second finger sections 21-24. By rotating the second finger sections 21-24 relative to the first finger sections 11-14, the posture of the second finger sections 21-24 is changed, thereby selecting one of the first finger work section (gripping section 81, 83) and the second finger work section (gripping section 82, 84, work section 85).

[0140] (Correspondence between parts) - 4 The first finger parts 11 to 14 are provided on the hand base 1 so as to be able to swing around the first axis (axis P11 to P14). The second finger parts 21 to 24 are provided on the first finger parts 11 to 14 so as to be able to rotate around the second axis (axis P21 to P24) which is aligned with the first axis (axis P11 to P14). By rotating the second finger parts 21 to 24 around the second axis (axis P21 to P24), the posture of the second finger parts 21 to 24 is changed.

[0141] (Correspondence between parts) - 5 The second finger portions 21 to 24 are configured to extend from the second axis (axis P21 to P24) toward one side and the other side along a direction intersecting the second axis (axis P21 to P24). With one of the first finger working portions (gripping portions 81, 83) and the second finger working portions (gripping portions 82, 84, working portion 85) selected, the posture of the second finger portions 21 to 24 is set such that the selected one of the first finger working portions (gripping portions 81, 83) and the second finger working portions (gripping portions 82, 84, working portion 85) is located on the side that moves away from the hand base 1 beyond the ends of the first finger portions 11 to 14.

[0142] (Correspondence between parts) - 6 With one of the first finger work section (gripping sections 81, 83) and the second finger work section (gripping sections 82, 84, work section 85) selected, the finger sections (first finger sections 11-14, second finger sections 21-24) are operated in a direction that brings them closer to each other, thereby gripping the object M with the selected one of the first finger work section (gripping sections 81, 83) and the second finger work section (gripping sections 82, 84, work section 85).

[0143] The first finger work section (gripping sections 81, 83) and the second finger work section (gripping sections 82, 84, work section 85) are made of different materials. The first finger work section (gripping sections 81, 83) and the second finger work section (gripping sections 82, 84, work section 85) are made of different shapes.

[0144] (Correspondence between parts) - 7 Electric motors 15, 16, 17, and 18 correspond to the first finger motors. Electric motors 25, 26, 27, and 28 correspond to the second finger motors. Axle centers P11, P12, P13, and P14 correspond to the first axis. Axle centers P21, P22, P23, and P24 correspond to the second axis. The transmission belt 38 corresponds to the elastic member.

[0145] (Correspondence of each part) - 8 The hand comprises a hand base 1, a plurality of first finger parts 11 to 14 provided on the hand base 1, a plurality of second finger parts 21 to 24 provided on each of the first finger parts 11 to 14, and gripping parts 81 to 84 provided on each of the second finger parts 21 to 24.

[0146] The device is equipped with first finger motors (electric motors 15-18) that can operate the first finger portions 11-14. When the first finger portions 11-14 are operated by the first finger motors (electric motors 15-18) in a direction that brings them closer together, the device is configured to grip an object M with the gripping portions 81-84.

[0147] The first finger motors (electric motors 15-18) operate the first finger portions 11-14 in a direction that brings them closer to each other, causing the gripping portions 81-84 to come into contact with the object M. As a result, the second finger portions 21-24 remain in the position where they are in contact with the object M. An elastic member (transmission belt 38) is provided that allows the first finger portions 11-14 to be operated in a direction that brings them closer to each other relative to the second finger portions 21-24.

[0148] (Correspondence between parts) - 9 The first finger parts 11 to 14 are provided on the hand base 1 so as to be able to swing around the first axis (axis P11 to P14). The second finger parts 21 to 24 are provided on the first finger parts 11 to 14 so as to be able to swing around the second axis (axis P21 to P24) which is aligned with the first axis (axis P11 to P14).

[0149] The second finger section is equipped with motors (electric motors 25-28). The operation of the second finger section motors (electric motors 25-28) is transmitted to the second finger sections 21-24 via an elastic member (transmission belt 38), and the second finger section motors (electric motors 25-28) operate the second finger sections 21-24 around the second axis (P21-P24).

[0150] (Correspondence between parts) - 10 A drive shaft 30 is provided that drives the second finger parts 21 to 24 to swing around the second axis (axis P21 to P24). A transmission belt 38 is provided that is attached across the second finger motors (electric motors 25 to 28) and the drive shaft 30, and is capable of transmitting the operation of the second finger motors (electric motors 25 to 28) to the drive shaft 30, and is elastic. The transmission belt 38 is an elastic member (transmission belt 38).

[0151] This invention can be applied to handheld devices.

[0152] 1 Hand base 11-14 First finger section (finger section) 15-18 Electric motor (first finger section motor) 21-24 Second finger section (finger section) 25-28 Electric motor (second finger section motor) 30 Drive shaft 38 Transmission belt (elastic member) 81 Gripping section (first finger working section) 82 Gripping section (second finger working section) 83 Gripping section (first finger working section) 84 Gripping section (second finger working section) 85 Working section (second finger working section) M Object P11-P14 Axis core (first axis core) P21-P24 Axis core (second axis core)

Claims

Hand base and, Multiple finger portions provided on the base of the hand, The first finger work section, which is provided on the finger, is for performing work. The aforementioned finger portion is provided with a second finger work portion, which is used for performing work and is different from the first finger work portion. A hand device that allows the user to select either the first finger work section or the second finger work section according to the task. 　 The aforementioned finger portion has a plurality of first finger portions provided on the hand base and a plurality of second finger portions provided on each of the first finger portions. The first finger work section and the second finger work section are provided on each of the second finger sections, The hand device according to claim 1, wherein the second finger portion is rotated relative to the first finger portion, thereby changing the posture of the second finger portion, and thereby selecting one of the first finger working portion and the second finger working portion. 　 The first finger portion is provided on the hand base so as to be able to swing around the first axis, The second finger portion is provided on the first finger portion so as to be rotatable around the second axis along the first axis, The hand device according to claim 2, wherein the posture of the second finger portion is changed by rotating the second finger portion around the second axis. 　 The second finger portion is configured to extend from the second axis toward one side and the other side along a direction intersecting the second axis, The hand device according to claim 3, wherein, with one of the first finger work portion and the second finger work portion selected, the posture of the second finger portion is set such that the selected one of the first finger work portion and the second finger work portion is located on the side that extends beyond the end of the first finger portion and moves away from the hand base portion. 　 The hand device according to any one of claims 1 to 4, wherein, with one of the first finger work portion and the second finger work portion selected, the finger portions are operated in a direction that brings them closer to each other, thereby gripping an object with the selected one of the first finger work portion and the second finger work portion. 　 The hand device according to any one of claims 1 to 5, wherein the first finger work portion and the second finger work portion are composed of different materials. 　 The hand device according to any one of claims 1 to 6, wherein the first finger work portion and the second finger work portion are configured to have different shapes from each other. 　 Hand base and, Multiple first finger portions provided on the base of the hand, A plurality of second finger portions provided on each of the first finger portions, Each of the second finger portions is provided with a gripping portion, The device is equipped with a first finger motor capable of operating the first finger portion, The device is configured such that when the first finger motor moves the first finger portions toward each other, the gripping portion grips an object. A hand device comprising a first finger motor which operates the first fingers toward each other, causing the gripping portion to come into contact with an object, thereby leaving the second fingers in the position where they made contact with the object, and an elastic member which allows the first fingers to be operated toward each other relative to the second fingers. 　 The first finger portion is provided on the hand base so as to be able to swing around the first axis, The second finger portion is provided on the first finger portion so as to be able to swing around the second axis along the first axis, A second finger motor is provided. The hand device according to claim 8, wherein the operation of the second finger motor is transmitted to the second finger via the elastic member, and the second finger is operated around the second axis by the second finger motor. 　 A drive shaft that drives the second finger portion to oscillate around the second axis, A transmission belt is provided, which is attached across the second finger motor and the drive shaft, capable of transmitting the operation of the second finger motor to the drive shaft, and which is elastic. The hand device according to claim 9, wherein the transmission belt is the elastic member.

Images