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Multi-fingered robot hand

A robotic hand, palm technology, applied in robotics, medical science, artificial arms, etc., can solve problems such as poor stability

Active Publication Date: 2009-08-05
PANASONIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

That is, when the robot hand holds a plate-shaped object such as a plate, even if the thumb ball protrudes, there is no structure for holding the object through the thumb ball itself, so there is a problem of poor grip stability.

Method used

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  • Multi-fingered robot hand

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0028] figure 1 (a) and (b) show an embodiment of the multi-fingered robotic hand of the present invention. As shown in the figure, the robot hand of this embodiment has four finger mechanisms 1 , 2 , 3 and 4 , among which three finger mechanisms 2 , 3 and 4 (the first finger mechanism) and another finger mechanism 1 ( The second finger mechanism) holds the object from both sides. The finger mechanism 1 corresponds to the thumb, the finger mechanism 2 corresponds to the index finger, the finger mechanism 3 corresponds to the middle finger, and the finger mechanism 4 corresponds to the ring finger.

[0029] The robot hand includes a first palm portion 8 connected with the finger mechanisms 2 , 3 , and 4 , a second palm portion 9 connected with the finger mechanism 1 , and one of the connecting portions that connect the first palm portion 8 and the second palm portion 9 . Example of the palmar joint 10. That is, in the present embodiment, the connecting portion has one palm ...

Embodiment 2

[0058] Figure 7 (a) and (b) are schematic diagrams showing a multi-fingered robotic hand according to Embodiment 2 of the present invention. In the second embodiment, an elastic convex member 51 is provided on the palm side surface of the second palm portion 9 of the first embodiment, and other structures and driving methods are the same as those in the first embodiment.

[0059] Figure 7 The elastic protruding member 51 shown in (a) and (b) is integrally formed with the elastic skin member described in Example 1 so as to substantially cover the center portion of the palm side surface of the second palm portion 9 . The material is the same as that of the elastic skin parts, such as rubber, polyurethane, silicon, sponge, etc. In addition, in this case, considering the contactability with the article, it is preferable that the rubber hardness is about 20 degrees to 30 degrees Hs (Hardness Spring).

[0060] When the elastic protruding part 51 holds the object in the multi-fi...

Embodiment 3

[0064] Figure 8 (a) to (c) are schematic diagrams showing the multi-fingered robot hand according to the third embodiment of the present invention. In this embodiment, the palm side surface of the palm 9 of the first embodiment is provided with a bag member 55 that expands and contracts based on the entry and exit of fluid, and the other structures and driving methods are the same as those of the first embodiment.

[0065] Figure 8 The bag member 55 shown in (a) to (c) is formed separately from the elastic skin member described in Embodiment 1 so as to substantially cover the center portion of the palm-side surface of the second palm portion 9 . The material thereof is stretchable material such as rubber. Moreover, as a fluid which enters and exits the bag member 55, gas, such as compressed air, or liquid, such as water, is mentioned, for example.

[0066] Multi-fingered robotic hands such as image 3 , Figure 4 In the case of actively using the palm side surfaces of t...

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PUM

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Abstract

To provide a multi-fingered robot hand capable of stably gripping various articles, while restraining an increase in the joint number of a finger mechanism. This multi-fingered robot hand has a first palm part 8 connected with three finger mechanisms 2, 3 and 4 via a root joint 12, a second palm part 9 connected with one finger mechanism 1 via a root joint 13, and a palm joint 10 connecting the first palm part 8 and the second palm part 9. The palm joint 10 is constituted so as to permit a connecting angle of the second palm part 9 to the first palm part 8 to change. Both the palm joint 10, a bending joint 5, a bending joint 6 of the root joint 12 and the root joint 13, have a mutually parallel rotary shaft, and bend by rotary operation around this rotary shaft.

Description

technical field [0001] The invention relates to a robot device, in particular to a multi-fingered robot hand for holding and operating various objects. Background technique [0002] In recent years, the shortage of labor force and the aging of the labor force have been foreseen due to the declining birthrate and the aging population, and a robot for industrial use and home use that compensates for these problems has been expected. In particular, a robot hand capable of dexterously and stably holding various objects is necessary and important in order to perform complex work. Also, various studies have been made on the application of these robotic hands to prosthetic hands for people with handicapped hands. Considering this situation, several human-like robotic hands with structures similar to those of human hands have been proposed. [0003] Figure 15 (a) and (b) are human-like robotic hands that can perform actions similar to human hands and have built-in motors (for exa...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08A61F2/54
CPCB25J15/0009A61F2002/5018A61F2/583A61F2002/501
Inventor 奥田晃庸水野修中村彻
Owner PANASONIC CORP
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