JP4818016B2 - Hand device and driving method of hand device - Google Patents

Description

The present invention relates to a hand device that corresponds to the human hand that combines rotation device you equivalent to a human finger, in particular, a portion corresponding to the instep and palm in the hand apparatus, in conjunction with the bend-elongation behavior of a finger , as the hand device which deforms the curved shape into a flat shape, and relates to a driving how the hand device.

  Conventionally, various forms have been developed for hand devices corresponding to human hands. In such a hand device, a drive source (actuator) that performs a bending and extending operation of a portion corresponding to a finger is an electric motor such as a motor, or a device that expands and contracts with supply and discharge of fluid such as air and liquid (for example, In general, McKinben type actuators used for artificial muscles of robots) are generally used.

  In the following Patent Document 1 and Patent Document 2, a motor is used as a driving source, and a hand device that transmits and drives the driving force of the motor to a portion corresponding to a finger by a link-like mechanism to bend and extend the finger. Is disclosed. Moreover, in patent document 3, while using a motor as a drive source, each member which comprises a finger with the wire connected to the motor is connected, and the hand which performs bending extension of a finger by performing sending and withdrawal of a wire with a motor is performed. An apparatus is disclosed.

On the other hand, in Patent Document 4, an actuator (fluid pressure type actuator) that expands and contracts by supplying and discharging fluid as a driving source is used, and a finger is extended by supplying fluid to the actuator. A hand device using the biasing force of the means is disclosed. In Patent Document 5 and Patent Document 6, two sets of fluid pressure actuators are arranged on both sides of the arm member in the arm portion of the robot, and the arm member is rotated in one direction by driving one fluid pressure actuator, A mechanism for rotating the arm member in the opposite direction by driving the other hydraulic actuator is disclosed.
JP 2006-167831 A JP 2006-167839 A JP 2004-42214 A JP 2006-159333 A JP-A 61-249292 JP 2005-83447 A

  When grasping an object to be grasped with a hand device, when the size is large, the finger is bent after the finger is stretched to open the hand widely, but in Patent Document 1 to Patent Document 4 described above, In any of the disclosed hand devices, since the shapes of the back and palm of the hand are fixed, there is a problem that the entire hand including the back and the palm cannot be opened widely. Further, the shape of the object to be grasped is various, such as a triangular shape, a square shape, and a round shape. However, in the hand devices of Patent Documents 1 to 4, a finger is simply bent to grasp the object. Therefore, there is a problem that the part where the object is gripped with a finger becomes point contact, and the object cannot be reliably gripped with a wide contact area.

  In addition, although the robot arm of patent document 5 and patent document 6 makes it possible to rotate an arm in both directions with two sets of fluid pressure type actuators, controlling the rotation speed of the arm, the arm in the middle of the rotation range There is a problem that even control that maintains the position cannot be realized.

The present invention has been made in view of such a problem. The back and palm of the hand are deformed by utilizing the force required for bending and stretching the finger, and the entire hand can be opened widely, and surface contact can be made along the shape of the object. An object of the present invention is to provide a hand device including a rotation device that can grip an object.
Another object of the present invention is to provide a hand device driving method capable of braking with a finger bending speed and a finger bent in the middle when two sets of hydraulic actuators are used as a driving source.

In order to solve the above problems, a rotating device of a hand device according to the present invention includes a base member having a longitudinal direction, a rotating member rotatably attached to one end side in the longitudinal direction of the base member, and an actuator And a wire connecting the actuator and the rotating member, and a rotating device that pulls the wire by driving the actuator and rotates the rotating member, wherein the wire is connected to the rotating member. Is attached at a position offset from the center line of the rotating member parallel to the longitudinal direction of the base member.

  In the present invention, in order to attach the wire to a position offset from the center line of the rotating member, when the wire is pulled by driving the actuator, the traction force related to the wire is dynamically dispersed in a plurality of vector directions, In addition to the force for rotating the rotation member, a rotation moment is generated that the rotation device tries to rotate around the center line of the rotation member. This rotation moment allows the rotation device to perform operations other than rotating the rotation member. For example, when the rotation device of the present invention is applied to the finger portion of the hand device, the rotation member In conjunction with the rotation, the rotation device itself can be rotated by the rotation moment.

Further, the rotation device of the hand device of the present invention is characterized by having a guide member for guiding the wire so as to maintain the offset position of the wire.
In the present invention, since the guide member for guiding the wire rod to maintain the offset position is provided, the wire rod is offset even when the wire rod is moved by pulling the actuator and even when the rotating member is rotated. The state is maintained, and a rotational moment around the center line of the rotating member is stably generated.

Furthermore, in the rotation device of the hand device according to the present invention, the rotation member is attached to the base member via an intermediate member, and the intermediate member includes the rotation axis direction of the rotation member and the base. The member is characterized in that it can be rotated with the direction orthogonal to both the longitudinal directions of the member as the rotation axis direction.

  In the present invention, the rotation member is attached to the base member via an intermediate member having a rotation center in a direction orthogonal to both the rotation axis direction of the rotation member and the longitudinal direction of the base member. When the wire is pulled by the drive of the actuator, a force for rotating the intermediate member is also generated with the attachment position of the offset wire. For this reason, the intermediate member rotates in a different direction in conjunction with the rotation of the rotation member. For example, when the rotation device according to the present invention is applied to the finger portion of the hand device, the rotation member An operation in which the interval between the fingers is changed in conjunction with the rotation can be performed, and a hand device that can widely open the hand when the finger is extended can be realized.

The rotating device of the hand device according to the present invention includes a reverse rotation actuator that rotates the rotation member in a direction opposite to a rotation direction by driving the actuator, and the wire rod centering on the rotation member. is Yes disposed on the side opposite the side that is attached to, and having an opposite side wire that connects the reverse rotation actuator and the rotating member.
In the present invention, when the reverse side wire is driven by driving the reverse rotation actuator, the rotation member is rotated in the reverse direction. Therefore, when the turning device according to the present invention is applied to the finger portion of the hand device, in addition to turning the turning member in the extending direction of the finger by driving the actuator, the turning device is turned by driving the reverse turning actuator. The member can also be rotated in the direction in which the finger bends, and the bending and extending operation of the finger can be quickly performed by a dedicated actuator.

Furthermore, in the rotating device of the hand device according to the present invention, the side of the reverse rotating wire connected to the rotating member is moved from the center line of the rotating member parallel to the longitudinal direction of the base member. It is attached at a position offset in the same direction as the offset direction.

  In the present invention, since the reverse rotation wire is also connected to the rotation member at a position offset in the same direction as the wire, when the reverse rotation wire is pulled by the reverse rotation actuator, the wire is pulled. A rotation moment in the direction opposite to the rotation moment is generated, and the rotation device tries to rotate around the center line of the rotation member with the rotation moment in the opposite direction. Therefore, when the turning device according to the present invention is applied to the finger portion of the hand device, the turning device itself is turned in conjunction with the finger movement by driving the reverse turning actuator, Can realize movement.

In addition, the rotating device of the hand device according to the present invention includes a sub-rotating member that is rotatably attached to an end portion of the rotating member that is opposite to the attachment side to the base member, A sub reverse rotation actuator that rotates the sub rotation member in the same direction as the rotation direction of the rotation member by driving the reverse rotation actuator, and a sub that connects the sub reverse rotation actuator and the sub rotation member. and having a reverse rotation wire.
In the present invention, since the sub-rotating member attached to the distal end side of the rotating member is rotated by the sub-reverse rotating actuator, it is possible to realize an operation of bending a finger with a multi-joint. If the sub-rotating members are connected so as to be capable of rotating in series, and a sub-reverse rotating actuator for each of the sub-rotating members is provided, it is configured to match the number of finger joints in the actual human body. It is also possible.

Further, the rotation device of the hand device of the present invention is characterized by having a biasing member for biasing the auxiliary rotating member in the rotational direction opposite to the direction by the driving of the sub-reverse rotation actuator.
In the present invention, since the biasing member that biases the sub-rotation member in the direction opposite to the direction of rotation by the sub-reverse rotation actuator is provided, the finger portion corresponding to the sub-rotation member can be moved by a simple mechanism. Rotation can be realized. As the biasing member, an elastic body such as a synthetic rubber, or a spring material such as a tension coil spring or a leaf spring can be applied. In addition, when an elastic body such as synthetic rubber is used as the biasing member, in a synthetic rubber glove other than a mode in which the sub-rotating member and the rotating member are connected by an elastic body to bias the sub-rotating member. A form in which the rotating device is covered with the finger portion and the auxiliary rotating member is biased is also possible.

In the driving method of the hand device according to the present invention, the actuator and the reverse rotation actuator having the rotation device the hand device provided in, which performs expansion and contraction to drive the supply and discharge of fluid, said actuator and said A fluid is supplied to the reverse rotation actuator, and the pressure of the fluid supplied to the actuator and the reverse rotation actuator is switched to switch between the rotation and the rotation stop of the rotation member.

  In the present invention, a fluid pressure type actuator is used, and fluid is supplied to both the actuator and the reverse rotation actuator, and at this time, the pressure of the fluid supplied to each actuator is switched. It is possible to control the rotation speed, stopping the rotation in the middle of the rotation range, and the like.

  For example, when controlling the direction of rotation, the pressure of the fluid supplied to the actuator that drives in the direction of rotation may be increased. Also, when controlling the rotation speed, if the difference in the pressure of the fluid supplied by both actuators is increased, the rotation speed will be increased, and if the difference in pressure is decreased, the rotation speed will be increased. Get smaller. Furthermore, when stopping the rotation in the middle, the rotating member is rotated to a desired position, and the pulling force of the wire rod by the actuator and the pulling force of the reverse wire rod of the reverse rotation actuator are balanced at that position. The pressure of the fluid supplied to both actuators is adjusted. In this case, the rotating member stops in a state where the forces pulled in both directions are balanced, so that the force is applied, i.e., the brake is just applied, and it can be easily rotated even when external force is applied. Without stopping, it is possible to maintain a stable stop state.

  A hand device according to the present invention includes a base member having a longitudinal direction, a rotating member rotatably attached to one end side of the base member in the longitudinal direction, an actuator, and a wire connecting the actuator and the rotating member. With the plurality of rotation devices having the plurality of rotation devices arranged in parallel, the other end side of each base member can be rotated with the direction parallel to the longitudinal direction of each base member as the rotation center A rotation device located on the end side among the plurality of rotation devices arranged in parallel, the assembly member attached to the elastic member and an elastic body that bundles the base members of the plurality of rotation devices. Any of the rotating devices described above, wherein an offset direction of the wire of the rotating device is set to a direction toward an end where the rotating device is located.

  In the present invention, since the base members of the respective rotating devices are bundled with the elastic body, the respective rotating devices that can be rotated with respect to the collective member are gently gathered, and the portion where the base members are bundled is exactly the same. By forming a portion corresponding to the back and palm of a human hand, it is possible to realize a form in which the portion corresponding to the back and palm of the hand can be subtly deformed. In addition, since the offset direction of the wire in the rotation device located on the end side is made to coincide with the same end side as the attachment side of the rotation device, the rotation member is rotated so that the finger is extended by driving the actuator. The rotating device itself rotates in the direction of opening the hand against the biasing force of the elastic body that bundles the base members, with the center of the attachment position to the collective member due to the force of the rotational moment generated accordingly. . Therefore, the portions corresponding to the back and palm of the hand device are deformed into a flat state or a warped state, so that the hand can be greatly expanded compared to the conventional hand device, and an object having a large size can be easily grasped.

Further, the hand device according to the present invention is characterized in that the overall arrangement of the attachment positions on the other end side of the base members in the collective member is a curved shape.
In the present invention, since the entire arrangement of the mounting positions of the base members of each rotating device is curved, the portions corresponding to the back and palm of the hand device are naturally curved by the urging force of the elastic body. The shape becomes. Therefore, when gripping an object, the part corresponding to the palm is curved in addition to the finger, so that the object can be stably gripped so as to wrap the object, and the part of the rotating device corresponding to the finger is curved of the palm. According to the shape, the finger rotates at an appropriate angle from the base of the finger. As a result, regardless of the shape of the object to be grasped, the portion corresponding to the finger can be rotated along the shape of the object to realize surface contact gripping, and the gripping force can be improved.

In the present invention, by attaching the wire rod offset, the rotating device capable of performing various operations by dispersing the traction force of the wire rod into a plurality of forces can be realized.
In the present invention, even when the wire rod is pulled and moved by the actuator, the offset position of the wire rod can be maintained, and the rotational moment around the center line of the rotating member can be stably generated.

In the present invention, since the rotating member is attached to the base member via the rotatable intermediate member, the intermediate member is rotated with the direction orthogonal to the rotating direction of the rotating member as the rotation axis direction. It is possible to perform multiple types of operations by pulling the wire rod by driving one actuator.
In the present invention, since the reverse rotation actuator and the reverse side wire are provided, the rotation member can be rotated in both directions.
In the present invention, since the reverse rotation wire is connected to the rotation member at a position offset in the same direction as the wire, a rotation moment in a direction opposite to the rotation moment caused by the pulling of the wire can be generated. It is possible to rotate itself in both directions.

In the present invention, since the sub-rotating member attached to the distal end side of the rotating member is rotated by the sub-reverse rotating actuator, an operation of bending a finger at a plurality of joints can be realized.
In the present invention, the sub-rotation member can be urged in the direction opposite to the driving direction of the sub-reverse rotation actuator with a simple mechanism using the urging member.

  In the present invention, when supplying fluid to both of two sets of fluid pressure type actuators that drive in different directions, the pressure of the fluid to be supplied to each actuator is appropriately switched to It is possible to freely control the direction of movement, the speed of rotation, stopping the rotation in the middle of the rotation range, and the like.

In the present invention, the base member of each rotating device that is rotatably attached to the assembly is bundled with an elastic body, so that the back and palm of the hand that can be delicately deformed can be formed, and the rotation located on the end side Since the offset direction of the wire rod in the device coincides with the same end side as the mounting side of the rotating device, when the rotating member is rotated so that the finger is extended, the rotating device itself rotates in the direction to open the hand. In addition, it is possible to realize a hand device that can easily grasp an object having a large size by deforming a portion corresponding to the back and palm of the hand device into a shape that warps from a flat shape.
Further, in the present invention, since the overall arrangement of the location where the base member of each rotating device is attached to the collective member is curved, when gripping an object, the portions corresponding to the back of the hand and the palm are gently formed. It can be curved and can be gripped stably so as to envelop the object, and each rotating device can be rotated so as to be in surface contact along the shape of the object to be gripped to grip the object, thereby improving the gripping force. I can plan.

  1 and 2 show a hand device 1 configured by combining a plurality of rotating devices according to an embodiment of the present invention. The hand device 1 corresponds to the right hand of a human body. FIG. FIG. 2 shows a state seen from the palm side of the right hand. The hand device 1 according to the present embodiment has a flat state, a warped state, a curved state, a curved portion and a back portion 1a (see FIG. 1) and a palm portion 1b (see FIG. 2). The feature is that it can be deformed. In addition, the outline shown with a dashed-two dotted line in FIG. 1 is the glove 2 made from synthetic rubber which forms the outer peripheral part of the hand apparatus 1. FIG.

  The hand device 1 corresponds to a block material 3 (corresponding to a collective member) constituting the vicinity of the wrist, a first rotation device 10 corresponding to a little finger portion, a second rotation device 30 corresponding to a ring finger portion, and a middle finger portion. A third rotating device 50, a fourth rotating device 50 corresponding to the index finger portion, and a fifth rotating device 90 corresponding to the thumb portion are attached.

  FIG. 3 shows a state in which the rotating devices 10, 30, 50, 70 except for the part corresponding to the thumb are attached to the block member 3. In addition, in FIG. 3, illustration of the actuator with which each rotation apparatus 10,30,50,70 is abbreviate | omitted. Further, the X axis, the Y axis, and the Z axis (each axis is orthogonal) constituting the XYZ coordinate system shown in FIG. 3 correspond to a reference axis representing the three-dimensional form of the hand device 1, and an arrow indicates (+ ) Direction (positive direction) is the negative direction. Each axis shown in other figures (FIGS. 1, 2, 4, 5, etc.) is the same as the X-axis, Y-axis, and Z-axis shown in FIG.

  The block material 3 has counterbore-shaped circular holes 4a to 4d for attaching the rotating devices 10, 30, 50, and 70 in parallel with each other on the upper surface 3a. The block material is curved like the letter “he” of Hiragana when the overall arrangement of the circular holes 4a to 4d is viewed from the positive (+) side of the Y axis in FIG. 3 in the negative direction. The circular holes 4a to 4d are formed in a shape.

  Specifically, as shown in FIGS. 11A to 11C, the circular hole 4 c to which the third rotating device 50 corresponding to the middle finger is attached is formed at a position that becomes the apex of the character “he”. ing. In addition, the circular holes 4b and 4d to which the second rotating device 30 corresponding to the ring finger and the fourth rotating device 70 corresponding to the index finger are attached are respectively positioned slightly lower than the circular hole 4c (direction parallel to the Z axis). In the (+) side direction from the circular hole 4a). Furthermore, the circular hole 4a to which the first rotating device 10 corresponding to the little finger is attached is formed at the lowest position (the most positive (+) side position in the direction parallel to the Z axis). In addition, in Fig.11 (a)-(c), the center of each circular hole 4a-4d is represented by the cross point of the dashed-dotted line.

  In these circular holes 4a to 4d, as shown in FIG. 3, joint members 11, 31, 51, 71 provided at the ends of the rotating devices 10, 30, 50, 70 are inserted, A retaining screw B is fixed in holes 4e to 4h provided on the surface of the block member 3 on the back side, and each of the rotation devices 10, 30, 50, and 70 rotates around the center of the circular holes 4a to 4d. Then, it is attached to the block material 3 so as to be rotatable. The block member 3 has a lower surface 3b on the attachment side to the arm portion of the robot, and is provided with an attachment portion 3c for attaching a fifth turning device 90 corresponding to a thumb.

  In addition, the base members 12, 32, 52, and 72 of each of the rotating devices 10, 30, 50, and 70 that are rotatably attached have wide belt-like elastic bodies 5a and 5b on both sides that are the back side and the palm side. It is bundled. The belt-like elastic bodies 5a and 5b are made of a stretchable synthetic rubber and have a predetermined elastic force, and are attached to the base members 12, 32, 52 and 72 with an adhesive. Thus, the part bundled by the belt-like elastic bodies 5 a and 5 b forms the back part 1 a and the palm part 1 b of the hand device 1. When a predetermined force is applied to the upper part 1a and the palm part 1b, each of the rotating devices 10, 30, 50, 70 is within the elastic range of the belt-like elastic bodies 5a, 5b, and the circular holes 4a to 4d are centered. Deforms as it turns.

  In addition, the 5th rotation apparatus 90 attached to the attachment part 3c of the block material 3 is connected with the 4th rotation apparatus 70 by the linear tendon member 6 (refer FIG. 1, 2), and an instep part It moves (rotates) in conjunction with the deformation of 1a and palm portion 1b.

  4 shows a state in which the first turning device 10 corresponding to the little finger (corresponding to the turning device of the present invention) is viewed from the back side of the hand, and FIG. 5 shows the first turning device 10 in the hand device 1 with the little finger. The state seen from the side is shown. As a skeletal structure, the first rotating device 10 has a rotating member 14 rotatably attached to the one end 12 b side of the base member 12 via an intermediate member 13. The auxiliary rotation member 16 is rotatably attached to the one end 14b side opposite to the attachment side, and the distal end rotation member 17 is rotatable to the one end 16b side which is the distal end side of the auxiliary rotation member 16. It is attached to. Hereinafter, the details of the skeletal configuration of the first rotating device 10 will be described.

  The base member 12 is a long plate-like member having a longitudinal direction, and a groove 12c that communicates from one side surface 12f to the other side surface 12g is formed on one end 12b side in the longitudinal direction (direction parallel to the Y axis). (See FIG. 5). Moreover, the base member 12 has the joint member 11 attached to the other end 12a side in the longitudinal direction. The joint member 11 has a flange-shaped flange portion 11a. A cylindrical insertion portion 11b to be inserted into the circular hole 4a of the block member 3 is projected from the flange portion 11a. A recess 11c in which the tip of the fixing screw B is accommodated is formed over the entire circumference. Further, the joint member 11 projects from the flange portion 11 a a connecting portion 11 d for connecting to the base member 12, and the connecting portion 11 d is formed to sandwich the other end 12 a of the base member 12.

  The joint member 11 has a connecting shaft 11e fixed to the connecting portion 11d. The connecting shaft 11e has the other end 12a of the base member 12 with the direction parallel to the Z-axis as the axial length direction (longitudinal direction of the shaft). (See FIG. 5). Therefore, the base member 12 can be rotated slightly to the left and right as shown by the arrow in FIG.

  In addition, the intermediate member 13 attached to the one end 12b side of the base member 12 has a thickness dimension (a dimension in a direction parallel to the Z axis) on the attachment side to the base member 12, and fits in the groove 12c of the base member 12. A thin plate portion 13a is formed (see FIG. 5), and a first rotating shaft 18a penetrating the thin plate portion 13a is fixed to the one end 12b side of the base member 12. As shown in FIG. 5, the first rotation shaft 18 a has a direction parallel to the Z axis as the axial length direction (rotation axis direction), and the intermediate member 13 performs the first rotation with respect to the base member 12. The shaft 18a can be turned around the turning center (see FIGS. 8A and 10A). Further, the intermediate member 13 has a recess 13c formed at the end 13b on the rotating member 14 side (see FIG. 4).

  The rotating member 14 has a protruding portion 14 a that fits in the recessed portion 13 c of the intermediate member 13, and the second rotating shaft 18 b that passes through the protruding portion 14 a has ends on both sides sandwiching the recessed portion 13 c of the rotating member 13. It is fixed to the part 13b. The second rotation shaft 18b has a direction parallel to the X axis as the axial length direction (rotation shaft direction), and the rotation member 14 can rotate about the second rotation shaft 18b. In addition, when rotating the rotation member 14 clockwise from the state shown in FIG. 5, it corresponds to the operation | movement which bends a finger | toe. Further, the rotating device 14 forms a concave portion 14c in the longitudinal direction (direction parallel to the Y-axis direction) at the end portion 14b opposite to the convex portion 14a similarly to the intermediate member 13 described above, and this concave portion 14c. The convex portion 16a of the sub-rotating member 16 is housed in

  The sub-rotating member 16 is the same in shape as the rotating member 14 although the dimensions thereof are different, and a convex portion 16a and a concave portion 16c are formed in the opposite end portion 16b. A third rotation shaft 18 c fixed to the end 14 b of the rotation member 14 passes through the convex portion 16 a of the sub rotation member 16, and the sub rotation member 16 is the same as the rotation member 14. The third rotation shaft 18c parallel to the X axis can be rotated about the rotation center. Further, the convex portion 17 a of the tip rotating member 17 is accommodated in the concave portion 16 c of the sub-rotating member 16.

  A fourth rotating shaft 18d fixed to the end 16b of the sub-rotating member 16 passes through the convex portion 17a of the tip rotating member 17, and the tip rotating member 17 also includes the rotating member 14 and the sub-rotating member 17. Similar to the rotating member 16, the rotating member 16 can rotate about a fourth rotating shaft 18d parallel to the X axis. The tip turning member 17 corresponds to the fingertip portion of the little finger, and the tip 17b has a curved shape in a circular arc shape, and a fingertip member 19 that is another member raised in a hill shape is formed on the palm-side surface 17c. It is attached (see FIG. 5).

  Further, as shown in FIGS. 4 and 5, the first rotating device 10 includes a total of four pieces for rotating the rotating member 14, the auxiliary rotating member 16, and the tip rotating member 17 described above. Actuators 21, 23, 25 and 27 are provided. Each actuator 21, 23, 25, 27 expands by supplying fluid, and contracts by discharging the supplied fluid, and is connected to each rotating member 14, 16, 17. 28 is a hydraulic actuator that pulls and releases 28.

  FIG. 6A shows a cross-sectional view of the contracted state of the first actuator 21 arranged on one surface 12d on the back side of the base member 12, and FIG. 6B shows a cross-section of the expanded state when a fluid is supplied. The figure is shown. The first actuator 21 is configured to cover the inner bag body 21b with a covering body 21a. The first actuator 21 inserts a fluid supply hose H into the opening end 21e of the bag body 21b, and the hose H is covered with the heat shrinkable tube 21f. H is fixed to the bag body 21b, and the base portion 21d of the covering body 21a is covered from above, and is bound and fixed by a binding wire 21h. In addition, the tip 21c of the covering 21a is bound by a wire 22, and the wire 22 is extended so that the extended end of the wire 22 is connected to a member to be driven.

  The covering body 21a is tubular and is knitted flexibly, and in this embodiment, it is a polyester multifilament yarn that is an ester-based yarn and is knitted by a bag making machine. At the time of knitting, the stitches are diamond-shaped (bias) and the longitudinal direction of the diamond-shaped (bias) is knitted so as to coincide with the longitudinal direction of the cylindrical covering 12 (direction parallel to the Y axis). It can be expanded and contracted both in the direction parallel to the axis and in the direction orthogonal to the Y axis (direction in which the actuator 21 expands in diameter). Further, the bag body 21b is made of polyethylene, swells due to the supply of fluid, the dimension in the direction parallel to the Y axis is shortened, and the direction perpendicular to the Y axis (for example, the direction parallel to the X axis) is reduced. A dimension becomes long (refer FIG.6 (b)), the coating | covering body 21a deform | transforms following such swelling of the bag body 21b, and pulls the wire 22 to the arrow direction in FIG.6 (b). The actuators 23, 25, and 27 other than the first actuator 21 shown in FIGS. 6A and 6B are also dimensionally different, but the configuration itself is the same as described above.

  As shown in FIGS. 1 and 4, the first actuator 21 is disposed on the upper surface 12 d of the base member 12 and connects the wire 22 extending from the first actuator 21 to the rotating member 14. An end portion 22 a of the wire rod 22 is attached to one surface 14 d on the back side of the rotating member 14. The attachment position of the end 22a of the wire 22 is offset from the center line 14f of the rotating member 14 parallel to the longitudinal direction (Y-axis direction) of the base member 12 by a distance L1 in the right direction in FIG. Note that the right direction in FIG. 4 (the (+) direction of the X axis) indicates that when the first rotation device 10 is incorporated in the hand device 1 in FIG. 1, each rotation device 10, 30, 50, 70 is the X axis. In a state of being arranged in parallel along the direction, it matches the direction of the end side (end side in the (+) direction on the X axis) where the first rotating device 10 is located.

Further, the first actuator 21 fixes the guide member 20 a for guiding the wire 22 to the intermediate member 13 in order to maintain the offset position of the wire 22 even when the wire 22 is pulled. The guide member 20a is an inverted “U” -shaped member, and guides and restricts the position of the wire 22 by allowing the wire 22 to pass through an annular shape with both ends attached to the intermediate member 13. In addition, the shape and structure of the guide member 20a are not limited to the content mentioned above, You may make it the position of the wire 22 not shift | deviate with the protruding rod-shaped member. Further, in the first actuator 21, the hose H is fixed to the block member 3 by the fixing member 7a in a state where the first rotating device 10 is incorporated in the hand device 1 as shown in FIG. By fixing the hose H, the first actuator 21 is positioned in the Y-axis direction. As a result, when the fluid is supplied through the hose H, the first actuator 21 expands, and the wire rod 22 is pulled by the length of the entire length in the Y-axis direction.

  The second actuator 23 corresponds to the reverse rotation actuator of the present invention, and rotates the rotation member 14 in the direction opposite to the direction in which the rotation member 14 rotates by driving the first actuator 21. As shown in FIGS. 2 and 5, the second actuator 23 is arranged on the palm-side other surface 12 e of the base member 12 and extends from the second actuator 23 (the reverse rotation wire of the present invention). Is connected to the rotating member 14, the end 24 a of the wire 24 is attached to the palm-side other surface 14 e of the rotating member 14. As with the wire 22 of the first actuator 21, the attachment position of the end 24a of the wire 24 is the same (X axis) from the center line 14f of the rotating member 14 parallel to the longitudinal direction (Y axis direction) of the base member 12. 2 is offset to the left in FIG. 2 by a distance L2.

  The wire 24 of the second actuator 23 is also guided to maintain the offset position by the guide member 20b attached to the palm side surface of the intermediate member 13, as with the wire 22 on the back side. Further, the hose H of the second actuator 23 is also fixed to the block member 3 by the fixing member 7b with the first turning device 10 incorporated in the hand device 1 as shown in FIG. Directional positioning is performed.

  Further, the third actuator 25 corresponds to a sub reverse rotation actuator of the present invention, and rotates the sub rotation member 16 in the same direction as the rotation direction of the rotation member 14 driven by the second actuator 23. As shown in FIG. 5, the third actuator 25 is disposed on the other side 14e of the palm of the rotating member 14, and the wire 26 extending from the third actuator 25 (the sub-reverse rotating wire of the present invention). The end portion 26 a of the wire rod 26 is attached to the palm-side other surface 16 e of the sub-rotating member 16. The wire 26 is attached on a center line parallel to the longitudinal direction (Y-axis direction) of the sub-rotating member 16 without offsetting the end portion 26a. The hose H of the third actuator 25 is fixed so as to penetrate the intermediate member 13, thereby positioning the third actuator 25 in the Y-axis direction.

  Furthermore, as shown in FIG. 5, the fourth actuator 27 is disposed on the palm-side other surface 16 e of the sub-rotating member 16, and an end portion 28 a of the wire rod 28 extending from the fourth actuator 27 is provided. It is attached to the other surface 17c on the palm side of the tip turning member 17. The wire 28 is attached on a center line parallel to the longitudinal direction (Y-axis direction) of the tip turning member 17 without offsetting the end portion 28a. Note that the hose H of the fourth actuator is fixed to the sub-rotating member 14 (not shown), thereby positioning the fourth actuator in the Y-axis direction.

  Further, as shown in FIGS. 4 and 5, the first rotating device 10 has a belt-like shape so as to connect the upper surface 14 d of the rotating member 14 and the upper surface 16 d of the auxiliary rotating member 16. The urging member 15 is pasted. The biasing member 15 is formed of an elastic material made of synthetic rubber, and the sub-rotating member is opposite to the direction in which the sub-rotating member 16 is rotated by the wire 26 being pulled by the driving of the third actuator 25. 16 is energized. In the first rotating device 10, a biasing member that biases the tip rotating member 17 in the direction opposite to the rotating direction by driving the fourth actuator 27 is not attached, but is shown in FIG. 1. The urging force equivalent to that of the urging member 15 is secured for the distal end rotating member 17 by the elastic force of the glove 2 covering the hand device 1.

  FIG. 7A shows the first turning device 10 described above, in which a fluid is supplied to the second actuator 23, the third actuator 25, and the fourth actuator 27 to turn the turning member 14, the auxiliary turning member 16, and The state which rotated the front end rotation member 17 is shown. Specifically, when the second actuator 23 that is expanded by being supplied with the fluid pulls the wire 24, the rotating member 14 rotates about the second rotating shaft 18b. Note that the wire 22 on the upper side is pulled in the rotating direction by the rotation of the rotating member 14, and accordingly, the first actuator 21 extends in the longitudinal direction (Y-axis direction).

  Further, the third actuator 25 is also expanded by the supply of fluid to pull the wire 26, and the sub-rotating member 16 is rotated about the third rotating shaft 18c. This is performed against the biasing force of the biasing member 15 attached. Further, the fourth actuator 27 is also expanded by the supply of the fluid, pulls the wire 28, and rotates the tip rotating member 17 about the fourth rotating shaft 18d. In this way, in FIG. 7 (a), all the actuators 23, 25, 27 on the palm side are driven, so FIG. 7 (a) shows the posture in which the first rotating device 10 is bent most, that is, the little finger is the most. The bent state is shown.

  FIG. 7B shows a state in which only the second actuator 23 is driven and the rotating member 14 is rotated about the second rotating shaft 18 b, and the third actuator 25 and the fourth actuator 27 are illustrated. Is not driven, the rotating member 14 to the tip rotating member 17 are in a linear posture by the urging force of the urging member 15 and the elastic force of the glove 2 (not shown). Although not shown, in the first rotating device 10, only the third actuator 25 is driven to rotate only the auxiliary rotating member 16, and only the fourth actuator 27 is driven to drive the tip rotating member. Various rotation methods can be performed, such as rotating only 17 and driving the second actuator 23 and the third actuator 25 to rotate the rotation member 14 and the sub rotation member 16.

  FIG. 8A is a schematic view of the state in which the second actuator 23 is driven as viewed from the palm side. By driving the second actuator 23, the rotating member 14 can be rotated around the second rotating shaft 18b as described above, but the end 24a of the wire 24 is attached with an offset, The intermediate member 13 and the rotation member 14 are also rotated around the first rotation shaft 18a in the direction of the arrow in the figure. By performing such a rotation around the first rotation shaft 18a, the first rotation device 10 swings in a direction in which an interval between adjacent fingers is opened when performing an operation of bending the finger. Thus, it is possible to realize a finger (little finger) movement that envelops an object to be grasped widely. In addition, even if the intermediate member 13 and the rotation member 14 are rotated around the first rotation shaft 18a, the pulled wire rod 24 is guided by the guide member 20b, so that the offset position is maintained.

  FIG. 8B is a cross-sectional view taken along line B-B in FIG. 8A, and further around the center line 11 f (see FIG. 8A) of the joint member 11 by driving the second actuator 23. In addition, a rotational moment F1 in the direction of the arrow in FIG. The center line 11f of the joint member 11 coincides with the center line 14f of the rotating member 14 not rotated about the first rotating shaft 18a on the XZ plane, and the end 24a of the wire rod 24 is offset. The rotational moment F1 is generated when the force point (corresponding to the attachment position of the end 24a) with respect to the rotating member 14 is separated from the center line 14f (11f) by the distance L2. When the first rotating member 10 is rotatably attached to the circular hole 4a of the block member 3 by the rotational moment F1, as shown in FIG. 3, the first rotating device 10 itself rotates around the center of the circular hole 4a. It will turn in the direction of the rotational moment F1 around the center of movement.

  FIG. 9 shows that the fluid is supplied to the first actuator 21 and the fluid is discharged from the second actuator 23 from the state of FIG. A state in which the finger is rotated toward the back side (in the direction of the arrow in FIG. 9) with the finger extended is shown. More specifically, the first actuator 21 expands and pulls the wire 22 due to the supply of fluid, and the second actuator reduces the degree of expansion as the fluid is discharged, and the force pulling the wire 24 weakens. The rotating member 14 is quickly rotated to the finger extension side.

  Further, in the first rotating device 10, when a fluid is supplied to both the actuators 21 and 23 so that the traction force of the wire 22 by the first actuator 21 and the traction force of the wire 24 by the second actuator 23 are balanced, the rotation member 14 can be stopped at a desired rotation position. In this state, the rotation member 14 is stopped in a state in which a braking force is applied to the rotation member 14 as if the rotation member 14 was locked. When the pressure of the fluid supplied to one of the first actuator 21 or the second actuator 23 is increased from this state, the rotation member 14 can be switched from the rotation stop state to the state where the pressure is increased. Further, even when fluid is supplied to the first actuator 21 and the second actuator 22 at the same time, it is possible to control the rotation speed of rotation in any one direction by changing the supply pressure of the fluid. . Further, it is possible to increase the rotation speed of the rotation member 14 by supplying a fluid to one actuator at a high pressure and at the same time performing a control for rapidly discharging the fluid from the other actuator.

  FIG. 10A is a schematic view of the state in which the first actuator 21 is driven as viewed from the back side. By driving the first actuator 21, the rotating member 14 can be rotated in the direction of extending the finger around the second rotating shaft 18 b as shown in FIG. 9, but the end 22 a of the wire 22 is offset. Therefore, the intermediate member 13 and the rotation member 14 are also rotated about the first rotation shaft 18a in the direction of the arrow in FIG. Such rotation about the first rotation shaft 18a swings in the direction in which the interval between adjacent fingers is opened even when the first rotation device 10 performs an operation of extending a finger. The whole can be opened widely, and even when the size of the object to be grasped is large, it can be grasped with a large open hand. In this case as well, since the wire 22 is guided by the guide member 20a, the offset position is maintained even if the intermediate member 13 and the rotation member 14 rotate about the first rotation shaft 18a.

  FIG. 10B is a cross-sectional view taken along the line CC of FIG. 10A, and the first actuator 21 is driven to move around the center line 11f of the joint member 11 in FIG. It shows that the rotational moment F2 in the direction of the arrow is generated. That is, as described above, the center line 11f of the joint member 11 coincides with the center line 14f of the rotating member 14 in a state where the intermediate member 13 and the rotating member 14 are not rotated about the first rotating shaft 18a. Therefore, the rotational moment F2 is generated when the force point on the rotating member 14 is separated from the center line 14f (11f) by the offset distance L1 of the end 22a of the wire 22. In a state where the first rotating member 10 is rotatably attached to the circular hole 4a of the block member 3 by the rotational moment F2, the first rotating device 10 itself has the center of the circular hole 4a as the rotational center. Then, it rotates in the direction of the rotational moment F2.

  Moreover, the 2nd rotation apparatus 30 corresponded to the ring finger shown in FIG.1 and FIG.2 is structurally equivalent although there is a dimensional difference with the 1st rotation apparatus 10 mentioned above. For example, the end 42a of the wire 42 extending from the first actuator 41 on the back side is attached to the rotating member 34 by being offset in the (+) direction of the X axis by a distance L3 (see FIG. 1). The end 44a of the wire 44 extending from the second actuator 43 on the side is also attached to the rotating member 34 while being offset in the (+) direction of the X axis by a distance L4.

  Further, the third turning device 50 corresponding to the middle finger has the same basic configuration as the first turning device 10 described above, but the first and second actuators 61 arranged on the back side and the palm side, End portions 62a and 64b of the wire rods 62 and 64 extending from 63 are not offset. Therefore, even if the first and second actuators 61 and 63 are driven, the intermediate member 53 and the rotating member 54 around the first rotating shaft 58a as shown in FIGS. 8A and 10A. Is not generated, and the rotational moments F1 and F2 as shown in FIGS. 8B and 10B are not generated. However, since the intermediate member 53 and the rotation member 54 are structurally rotatable around the first rotation shaft 58a, the intermediate member 53 and the rotation member 54 may rotate during gripping along the shape of the article to be gripped. Further, since the third rotating device 50 itself can also rotate with respect to the circular hole 4c of the block member 3, it may rotate along the shape of the article to be grasped. Note that the third rotating device 50 has the same configuration as that of the first rotating device 10 except for the above-described portions.

  Furthermore, the fourth rotating device 70 corresponding to the index finger is structurally equivalent to the first rotating device 10, but ends of the wire members 82 and 84 extending from the first and second actuators 81 and 83. The offset directions of the portions 82 a and 84 b are opposite to those of the first rotating device 10. In other words, the fourth rotating device 70 located in the negative direction (end side) of the X-axis with the rotating devices 10, 30, 50, 70 arranged in parallel extends from the first actuator 81 on the back side. The end 82a of the wire 82 to be extended is offset in the negative direction of the X axis by a distance L5 and attached to the rotating member 74 (see FIG. 1), and the end of the wire 84 extending from the second actuator 83 on the palm side. The portion 84a is also attached to the rotating member 74 with a distance L6 offset in the negative direction of the X axis (see FIG. 2).

  The fifth turning device 90 corresponding to the thumb (thumb) is configured such that the auxiliary turning member 16 of the first turning device 10 is omitted, as shown in FIGS. A base member 92 is attached to the joint member 91, a turning member 94 is attached via an intermediate member 93, and a tip turning member 95 is attached to the turning member 94. 1 and FIG. 2, the actuators related to the fifth rotation device 90 are not shown, but as with the first rotation device 10, the actuator for rotation of the rotation member 94 and the tip In addition to an actuator for rotating the rotating member 95, an actuator for rotating the mounting portion 3c of the block member 3 is also provided.

  FIG. 12 shows a fluid supply system 100 which is an example of a system capable of supplying a fluid to each actuator provided in each of the rotation devices 10, 30, 50, 70, 90 described above. The fluid supply system 100 supplies air as a fluid, and a fluid having a pressure P is generated by a fluid pressure generation source 101 such as a compressor and sent to a distributor 102. The fluid supply system 100 of this embodiment is provided with a total of four pressure reducing valves 103 to 106 in order to generate four types of pressures P1 to P4 from one type of original pressure (pressure P). Sends air of pressure P to each pressure reducing valve 103-106.

  The first pressure reducing valve 103 is used to reduce the pressure P to the pressure P1, the second pressure reducing valve 104 is hereinafter referred to as the pressure P2, the third pressure reducing valve 105 is referred to as the pressure P3, and the fourth pressure reducing valve is referred to as the fourth pressure reducing valve. 106 reduces the pressure P to the pressure P4 (P> P1> P2> P3> P4). In addition, the fluid supply system 100 includes the same number of switching valves as the actuators included in each of the rotating devices 10, 30, 50, 70, and 90 constituting the hand device 1. It is dedicated. In FIG. 12, only the switching valves 110, 111, 112, and 113 for the actuators 21, 23, 25, and 27 included in the first rotating device 10 are shown.

  The first switching valve 110 connects the fluid in side to the pressure reducing valves 103 to 106 and connects the fluid out side to the first actuator 21. The first switching valve 110 has an internal valve that can be switched to a total of six patterns that are open and closed in addition to the decompression valves 103 to 106 on the in side. The air supplied to 21 is discharged outward. When the internal valve is switched to the closed state, the air supplied to the first actuator 21 is confined and the first actuator 21 is held. Further, when the internal valve is switched to any one of the pressure reducing valves 103 to 106, the air of any pressure P <b> 1 to P <b> 4 is supplied to the first actuator 21. Such switching control of the internal valve of the first switching valve 110 is controlled by the control device 107, and the control device 107 controls the switching of the valve according to a program that defines how to move each finger of the hand device 1. I do. The configuration of the first switching valve 110 described above is the same for the other switching valves 111, 112, 113, and the like.

  FIGS. 13A to 13C show a series of states in which the hand device 1 configured as described above grips a spherical object M (diameter d1) to be gripped. FIG. 13A shows a state in which each actuator included in each of the rotating devices 10, 30, 50, 70, 90 constituting the hand device 1 is not driven, and the glove 2 that forms the outer periphery of the hand device 1 is shown. The rotating devices 10, 30, 50, 70, 90 are slightly bent by the elastic force. In this state, it is assumed that the distance between each rotation device 10, 30, 50, 70 corresponding to the index finger from the little finger and the rotation device 90 corresponding to the thumb is a distance d2 (d1> d2). . Further, since the actuators are not driven in the back portion 1a and the palm portion 1b of the hand device 1, as shown in FIG. 11B, the base members 12 of the rotating devices 10, 30, 50, 70 are provided. , 32, 52, 72 are assumed to be in a flat state parallel to the X axis. In addition, illustration of an actuator etc. is abbreviate | omitted in FIG. 11 (a)-(c).

  FIG. 13B shows a state in which the hand device 1 drives each of the rotating devices 10, 30, 50, 70, 90 so that the fingers extend in order to hold the object M having the diameter d1 (FIG. 13B). 9, 10 (a) (b)). By driving each of the rotating devices 10, 30, 50, 70, 90 so that the fingers extend, the first rotating device 10 and the second rotating device 30 corresponding to the little finger and the ring finger are shown in FIG. A rotational moment F2 as shown is generated.

  As a result, as shown in FIG. 11A, the first rotating device 10 (base member 12) and the second rotating device 30 (base member 32) have the centers of the circular holes 4a and 4b as the rotation center. It rotates in the direction of the white arrow in FIG. On the other hand, the fourth rotating device 70 (base member 72) corresponding to the index finger rotates in the black arrow direction in FIG. The third rotating device 50 (base member 52) corresponding to the middle finger is not rotated because there is no offset. Moreover, even if each rotation apparatus 10, 30, 50 rotates, the strip | belt-shaped elastic bodies 5a and 5b which bundle each base member 12, 32, 52, 72 elastically deform and follow rotation. As a result, as shown in FIG. 13 (b), the hand device 1 is in a state where the fingers are straightly extended, and the upper portion 1a and the palm portion 1b are deformed so as to be warped from the flat state. It can be transformed into a state in which a sufficient grip margin for gripping the object M is secured.

  When the hand device 1 drives each of the rotating devices 10, 30, 50, 70, 90 so as to bend the finger from the state of FIG. 13B, the first rotating device 10 corresponding to the little finger and the ring finger and the first finger The two-turning device 30 generates a rotational moment F1 as shown in FIG. Accordingly, as shown in FIG. 11C, the first rotating device 10 (base member 12) and the second rotating device 30 (base member 32) have the centers of the circular holes 4a and 4b as the rotation center. It rotates in the direction of the white arrow in FIG. On the other hand, the fourth rotating device 70 (base member 72) corresponding to the index finger rotates in the black arrow direction in FIG.

  As described above, when the pivoting devices 10, 30, and 70 are pivoted, the upper portion 1a and the palm portion 1b are gently curved in a “h” shape along the arrangement of the circular holes 4a to 4d. Therefore, the object M is wrapped in the upper part 1a and the palm part 1b. Further, in the hand device 1, the rotation devices 10, 30, 50, 70 corresponding to the fingers are swinging like the base member 12 with respect to the joint member 11 along the shape of the object M in addition to the rotation direction. The object M is gripped so as to be wrapped by turning (turning in the arrow direction shown in FIG. 4) and turning the first turning shaft 18 a related to the intermediate member 13 and the like. As a result, the contact portion S of each turning device 10, 30, 50, 70 with the object M becomes a wide area range, and the gripping force is increased, so that the hand device 1 can reliably grip the object M by surface contact.

  13A to 13C, the gripping of the hand device 1 has been described with the spherical object M, but the object M has another shape (for example, a triangular prism shape or a cubic shape). However, the upper portion 1a and the palm portion 1b of the hand device 1 are deformed along the object shape, and each of the rotating devices 10, 30, 50, 70 is not limited to the bending direction of the finger, but the first rotating shaft 18a, etc. Since the finger is bent according to the object shape by the rotation and the subtle rotation of the base member 12 and the like, the hand device 1 reliably holds the object by surface contact.

  In addition, the 1st rotation apparatus 10 (same also with other rotation apparatuses) which concerns on this invention is not limited to the form mentioned above, A various modification example is applicable. For example, if it is necessary to quickly extend the fingers of the sub-rotating member 16 and the tip rotating member 17, an actuator is used for rotating the sub-rotating member 16 and the tip rotating member 17 in the finger extending direction. It may be provided. Further, when the rotation about the first rotation shaft 18a as shown in FIGS. 8A and 10A is unnecessary, the first rotation device 10 (the same applies to other rotation devices). ), The intermediate member 13 may be omitted. Furthermore, when the hand device 1 is not concerned with the configuration equivalent to that of a human hand, the number of rotating devices may be appropriately increased or decreased from the state shown in FIGS.

  Further, the driving actuator is not limited to a fluid pressure type actuator, and a motor can be used as a driving actuator for pulling and feeding each wire. In this case, it is preferable that the motor is arranged in a portion corresponding to the block member 3 or the forearm of the robot hand so as not to hinder the movement of each rotating device, and the wire is attached to the rotating shaft of the motor to pull the wire. And sending out (towing release).

It is the schematic which looked at the hand apparatus which concerns on embodiment of this invention from the back side of the hand. It is the schematic which looked at the hand apparatus of embodiment from the palm side. It is the schematic which shows the state which attaches a some rotation apparatus to a block material. It is the schematic which looked at the 1st rotation apparatus from the back side of the hand. It is a side view of a 1st rotation apparatus. (A) is sectional drawing of the actuator of the state which is not supplying the fluid, (b) is sectional drawing of the actuator of the state which supplied the fluid. (A) is a side view of the state which rotated the 1st rotation apparatus entirely, (b) is a side view of the state which rotated the rotation member. (A) is the schematic which looked at the state which rotated the intermediate member and the rotation member centering on the 1st rotation axis from the palm side, (b) is a schematic sectional drawing in the BB line of (a). is there. It is a side view of the 1st rotation apparatus which shows the state which rotates a rotation member so that a finger may be extended. (A) is the schematic which looked at the state which rotated the intermediate member and the rotation member centering around the 1st rotation axis from the back side of the hand, (b) is the schematic sectional drawing in CC line of (a). is there. It is sectional drawing in the AA line of FIG. 2, (a) is sectional drawing which shows the state deform | transformed so that an instep part and a palm part may curve, (b) is sectional drawing which shows a flat state, (c ) Is a cross-sectional view showing a curved state. It is a block diagram which shows the structure of a fluid supply system. (A) is a schematic diagram showing the hand device in a state where the actuator is not driven, (b) is a schematic diagram showing the hand device in a state where the actuator is driven so as to extend a finger, and (c) is a state where an object is gripped. It is the schematic which shows this hand apparatus.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Hand apparatus 1a Back part 1b Palm part 2 Gloves 3 Block material 4a-4d Circular hole 5a, 5b Strip | belt-shaped elastic body 10 1st rotation apparatus 12 Base member 13 Intermediate member 14 Rotation member 15 Energizing member 16 Subrotation member 17 End rotation member 20a, 20b Guide member 21 First actuator 22, 24, 26, 28 Wire 22a, 24a, 26a, 28a End portion 23 Second actuator 25 Third actuator 27 Fourth actuator 30 Second rotation device 50 Third rotating device 70 Fourth rotating device 90 Fifth rotating device 100 Fluid supply system

Claims (9)

A base member having a longitudinal direction, a turning member rotatably attached to one end side in the longitudinal direction of the base member, an actuator, and a plurality of turning devices having a wire connecting the actuator and the turning member;
A collective member in which the other end side of each base member is pivotably attached around a direction parallel to the longitudinal direction of each base member in a state where the plurality of rotation devices are arranged in parallel,
An elastic body that bundles the base members of the plurality of rotating devices;
The rotation device is configured to rotate the rotation member by pulling the wire rod by driving the actuator,
Among the plurality of rotation devices arranged in parallel, the rotation device located on the end side is configured such that the side of the wire connected to the rotation member is parallel to the longitudinal direction of the base member. The hand device is attached to a position offset from the center line toward the end side where the rotating device is located . The hand device according to claim 1 , wherein an overall arrangement of attachment positions on the other end side of the base members in the assembly member is a curved shape. The turning device located on the end side, the hand device of claim 1 or claim 2 having a guide member for guiding the wire so as to maintain the offset position of the wire. The rotating member is attached to the base member via an intermediate member,
The intermediate member, the claim of the orthogonal direction to the longitudinal direction of both the pivot axis and the base member of the rotating member in the rotation axis direction are to be rotated 1 to claim 3 The hand device according to any one of the above. The rotating device is
A reverse rotation actuator for rotating the rotation member in a direction opposite to a rotation direction by driving of the actuator;
Inverse rotation actuator and hand device according to any one of claims 1 to 4 and a reverse rotation wire connecting the rotary member. The rotating device located on the end side is:
Side leading to the rotary member of the reverse rotation wire, wherein the center line of the longitudinal direction parallel the rotary member of the base member, is mounted at a position offset in the offset direction in the same direction of the wire according Item 6. The hand device according to Item 5 . The rotating device is
A sub-rotating member that is rotatably attached to an end of the rotating member that is opposite to the attachment side to the base member;
A sub reverse rotation actuator for rotating the sub rotation member in the same direction as the rotation direction of the rotation member by driving the reverse rotation actuator;
The hand device according to claim 5 , further comprising: a sub reverse rotation actuator and a sub reverse rotation wire connecting the sub rotation member. The rotating device is
The hand device according to claim 7 , further comprising a biasing member that biases the sub-rotating member in a direction opposite to a rotation direction driven by the sub-reverse rotation actuator. Said actuator and said reverse rotation actuator rotating device has provided in the hand device according to any one of claims 5 to 8, which performs expansion and contraction to drive the supply and discharge of fluid,
Supplying fluid to the actuator and the reverse rotation actuator;
A method of driving a hand device , wherein the pressure of a fluid supplied to the actuator and the reverse rotation actuator is switched to switch between rotation and rotation stop of the rotation member.

Images