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WO2017033885A1 - Main actionnée par un moteur - Google Patents

Main actionnée par un moteur Download PDF

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Publication number
WO2017033885A1
WO2017033885A1 PCT/JP2016/074365 JP2016074365W WO2017033885A1 WO 2017033885 A1 WO2017033885 A1 WO 2017033885A1 JP 2016074365 W JP2016074365 W JP 2016074365W WO 2017033885 A1 WO2017033885 A1 WO 2017033885A1
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WO
WIPO (PCT)
Prior art keywords
motor
wire
pulley
wire portion
driven hand
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/074365
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English (en)
Japanese (ja)
Inventor
浩史 横井
鶴松 叶
銀来 姜
壮一郎 森下
辰太郎 迫田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Electro Communications NUC
Original Assignee
University of Electro Communications NUC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by University of Electro Communications NUC filed Critical University of Electro Communications NUC
Priority to JP2017536417A priority Critical patent/JPWO2017033885A1/ja
Publication of WO2017033885A1 publication Critical patent/WO2017033885A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members

Definitions

  • the present invention relates to a motor-driven hand applied to an artificial prosthesis, a robot hand or the like.
  • a servo motor for radio control (referred to as “RC servo motor”) for an electric hand is an effective method for realizing controllability and responsiveness of the joint angle.
  • a driving method of the electric hand a direct-acting driving method and a driving method using a winding mechanism are known.
  • the direct drive system is a system in which the rotation shaft of the joint portion is rotated from the motor main shaft through a gear or a belt. This method can only generate torque proportional to the rotation angle of the motor spindle, and the gear ratio cannot be changed freely.
  • the drive system using the winding mechanism moves the finger using a wire pulling mechanism such as a winch. It is a method. This method can realize a more natural movement as compared with the direct-acting driving method.
  • a robot hand has been proposed in which a plurality of phalanx parts separated from each other are connected with wires, and a plurality of adjacent fingers are moved in conjunction with each other, and a driving force is concentrated on one finger from a plurality of driving parts.
  • a plurality of phalanx parts separated from each other are connected with wires, and a plurality of adjacent fingers are moved in conjunction with each other, and a driving force is concentrated on one finger from a plurality of driving parts.
  • the tow wire gets entangled with the motor spindle and causes problems such as biting the wire. For this reason, the motor is limited to a single-rotation type motor, and the problem of insufficient torque occurs. If a plurality of motors are used to supplement the driving force, the apparatus becomes large.
  • myoelectric prostheses that use surface myoelectric potentials generated in muscles as a control signal in response to commands from the brain have attracted attention.
  • myoelectric prosthetic hands it is faster to learn from children, but it is necessary to change prosthetic hands as they grow up. Therefore, a motor drive mechanism that is inexpensive, small, and has high followability is further desired.
  • the motor size is restricted if the electric hand is downsized.
  • a small RC servo motor is inexpensive and easily available, but its output is limited and it is difficult to obtain sufficient finger joint torque. Even when the electric hand is downsized, the strength of the pinch force and natural movement are still required.
  • an object is to provide a small motor-driven hand having sufficient pinch force and natural movement.
  • the motor-driven hand is Palm (51), A finger part (53) rotatably connected to the palm part by a joint rotation axis (21); A motor (11) for driving the fingers; A first wire portion having one end wound around a pulley (17) fixed to the output shaft (13) of the motor and the other end connected to a first action point (19A) of the finger portion; , A second wire portion having one end wrapped around the pulley and the other end connected to a second operating point (19B) of the finger; Have The first wire portion is connected to the first action point so that a distance between the first wire portion and the joint rotation axis is increased when the motor rotates in a first direction; The second wire portion is connected to the second action point so that a tension increases when the motor rotates in a second direction opposite to the first direction.
  • the above configuration realizes a small motor-driven hand with sufficient pinch force and natural movement.
  • a booster mechanism that obtains a large torque with a small general-purpose motor, and (2) a configuration in which the gear ratio between the motor output shaft and the rotation shaft to be driven is variable are realized.
  • the booster mechanism (1) a small electric hand having a sufficient pinch force can be realized at low cost.
  • the variable speed ratio variable configuration (2) enables more natural and stable movement.
  • FIG. 1 is a schematic view of a motor-driven hand 1A according to the first embodiment.
  • 1A is a side view seen from the thumb side when the palm of the motor-driven hand is front
  • FIG. 1B is a cross-sectional view taken along line AA ′ of FIG.
  • a small general-purpose servo motor and a wire winding mechanism are used to increase the torque by changing the distance between the rotating shaft to be driven and the wire, thereby improving the pinch force of the motor driving hand 1A.
  • the gear ratio between the output shaft of the motor and the rotation shaft to be driven becomes variable, for example, as the hand of the motor drive hand 1A closes in order to grasp an object, the movement becomes slower. Can be.
  • the motor drive hand 1 ⁇ / b> A includes a motor 12 that drives the thumb 52 and a motor 11 that drives the index finger 53.
  • the motors 11 and 12 are both small general-purpose RC servomotors.
  • the driving force of the motor 11 is transmitted to the index finger 53 by a wire.
  • the driving force of the motor 12 is transmitted to the thumb 52 via a pole (crank arm) 18 having one end fixed to the main shaft of the motor 12.
  • the five fingers including the thumb 52 and the index finger 53 are connected to the palm 51.
  • the index finger 53 and the four fingers (not shown), the middle finger, the ring finger, and the little finger are connected in common to the palm 51 through a metacarpophalangeal (MP) joint rotation shaft 21 at the base of the finger so as to move integrally.
  • MP metacarpophalangeal
  • a bearing 14 and a pulley 17 are disposed coaxially with the output shaft 13 of the motor 11, and a wire A and a wire B are wound around the pulley 17.
  • the pulley 17 is fixed to the output shaft 13 of the motor 11 and rotates around the central axis C. As the motor 11 rotates, the wire A and the wire B are wound and unwound on the pulley 17.
  • a cylinder housing 15 for guiding the wires may be provided so that the wires A and B do not come off the pulley 17.
  • the wire A arranged on the palm side is fixed to the action point 19A of the index finger 53, and the other end is wound around the pulley 17 in a clockwise direction.
  • the wire A has an action point 19A so that the distance R between the wire A and the MP joint rotation shaft 21 increases as the motor-driven hand 1A moves in the direction of closing the hand and grasping an object. It is connected to the.
  • the action point 19A is set in the vicinity of the second joint 53P that hits the middle of the index finger 53, but an appropriate force that can transmit the force from the motor 11 to the index finger 53 and move it effectively.
  • a point can be selected as the point of action 19A.
  • the action point 19A is preferably located on the palm side with respect to a straight line connecting the center of the output shaft 13 and the center of the MP joint rotation shaft 21.
  • the wire B arranged on the back side (back side) of the hand is fixed to the action point 19B near the back side of the second joint 53P of the index finger 53, and the other end is wound around the pulley 17 in the counterclockwise direction. It has been.
  • the wire B is connected to the action point 19B so that the rotational force of the motor 11 is effectively transmitted to the index finger 53 and the tension of the wire B is appropriately maintained while the motor drive hand 1A is operating.
  • the action point 19 ⁇ / b> B is preferably located on the back side of the hand with respect to a straight line connecting the center of the output shaft 13 and the center of the MP joint rotation shaft 21.
  • the wire A and the wire B may be two independent wires or may be wound around the pulley 17 so as not to idle one wire (see FIG. 1B), and one end may be the wire A and the other end may be the wire B. . That is, regardless of the number of wires, a portion corresponding to wire A having one end fixed to the action point 19A and the other end wound around the pulley 17, and one end fixed to the action point 19B and the other end wound around the pulley 17. It is sufficient if there is a portion corresponding to the attached wire B.
  • the rotation of the motor 11 is transmitted to the MP joint rotation shaft 21 by directly winding one end side of the wires A and B around the MP joint rotation shaft 21.
  • the output level of the motor must be increased in order to increase the torque, but the output of the small general-purpose RC servo motor has a limit.
  • one end side of the wire A moves to the action point 19A of the index finger 53 so that as the index finger 53 closes, the wire A passes through a position away from the MP joint rotation shaft 21 in the palm direction. It is connected.
  • the output shaft 13 of the motor 11 rotates clockwise in FIG. 1A
  • the wire A is wound around the pulley 17 and the index finger 53 is pulled downward in the figure.
  • the action point 19A also moves downward in the figure.
  • the moment increases because the wire A moves away from the MP joint rotation shaft 21.
  • the rotation of the MP joint rotation shaft 21 causes the middle finger, the ring finger, and the little finger (not shown) to move in the same direction in conjunction with the index finger 53.
  • the wire B is unwound from the pulley 17.
  • the distance (moment arm) R from the axis of the MP joint rotation shaft 21 to the wire A is greater than the distance from the axis of the output shaft 13 of the motor 11 to the wire A.
  • the torque increases. That is, a greater effect can be obtained with a small force.
  • the output of the motor 11 is represented by the product of torque and angular velocity.
  • the motor output is constant, when the torque increases, the angular velocity of the MP joint rotation shaft 21 decreases and the reduction ratio increases. That is, the moving speed of the index finger 53 becomes slower as the index finger 53 moves in the direction of pinching and the pinch force increases. This action is closer to the movement of the human hand and is advantageous when pinching small and fragile things with care and sufficient pinch force.
  • the output shaft 13 of the motor 11 rotates counterclockwise.
  • the wire B is wound around the pulley 17 and the index finger 53 moves upward in the drawing.
  • the MP joint rotation shaft 21 also rotates counterclockwise, and the four fingers commonly connected to the palm 51 move in a direction away from the thumb 52.
  • the wire A is unwound from the pulley 17, but the wire A passes through a position away from the MP joint rotation shaft 21, so that the entanglement with the MP joint rotation shaft 21 does not occur.
  • the rotation of the motor 11 may be feedback controlled in accordance with the rotation angle of the MP joint rotation shaft 21 detected by the potentiometer 23.
  • the motor 1 can increase torque while using a small general-purpose motor, so that even a small myoelectric prosthetic hand for children can have a sufficient pinch force.
  • a general-purpose motor and a simple mechanism are used, the cost for producing a prosthetic hand can be greatly reduced.
  • the entanglement of the wire can be suppressed and the output shaft 13 of the motor 11 can be rotated one or more times.
  • the index finger 53 and four fingers of middle finger, ring finger, and little finger are commonly connected to the palm 51 by the MP joint rotation shaft 21, the four fingers may be configured to move apart. . In that case, the above mechanism may be provided for each of the four fingers.
  • FIG. 2 is a modification of FIG. In FIG. 2, three wires A, B, and C and a spring structure 20 are used.
  • the spring structure 20 absorbs the tension of the wire when the MP joint rotation shaft 21 rotates to reduce the resistance.
  • the spring structure 20 includes a pair of washers (or spring washers) 36 and 37 and a compression spring 31 fixed between the washers 36 and 37.
  • one end of the wire A is connected to the palm-side action point 19A in the vicinity of the second joint 53P of the index finger 53, and the other end is wound clockwise around the pulley 17 (see FIG. 1B). It has been.
  • One end of the wire B is wound around the pulley 17 counterclockwise, and the other end is fixed to the washer 37 of the spring structure 20.
  • One end of the wire C is connected to the washer 36 of the spring structure 20, and the other end is fixed to the acting point 19 ⁇ / b> B on the back side in the vicinity of the second joint 53 ⁇ / b> P of the index finger 53. Since the wire B and the wire C are inserted and guided through the compression spring 31, the compression spring 31 may be referred to as a “guide coil”.
  • the wire A and the wire B may be two independent wires or may be wound around the pulley 17 so as not to idle one wire (see FIG. 1B), and one end may be the wire A and the other end may be the wire B. This is the same as FIG. That is, it is only necessary to have a portion corresponding to the wire A and a portion corresponding to the wire B regardless of the number of wires.
  • the distance R (moment arm) between the wire A and the MP joint rotation shaft 21 increases as the index finger 53 bends toward the lower side of the figure, as in FIG.
  • the wires B and C are connected to the spring structure 20 to adjust the lengths of the wires B and C to maintain the tension.
  • winding and unwinding of the wire B can be performed smoothly.
  • the compression spring 31 contracts when tension is generated in the wire, and the compression spring 31 extends when the tension of the wire is released. Biting into the pulley 17 can be prevented.
  • FIG. 2 shows an example in which the spring structure 20 is provided on the wire B side
  • the spring structure 20 may be on the wire A side, or may be on both the wire B side and the wire A side.
  • a structure using a compression spring and a washer is shown as the spring structure 20
  • a structure in which the wire B and the wire C are connected to both ends of the tension spring may be used.
  • FIG. 3 is a schematic view of a motor-driven hand 1C according to the second embodiment. The same components as those in FIG. 1 are denoted by the same reference numerals, and redundant description is omitted.
  • the motor drive hand 1 ⁇ / b> C has a wire A, a wire B, a wire C, and a guide coil lever 30.
  • the guide coil lever 30 has a function of adjusting the distance R between the wire C and the MP joint rotation shaft 21, that is, the moment arm, while adjusting the lengths of the wires A and C.
  • the guide coil lever 30 realizes a torque-sensitive boosting mechanism, and the angular velocity of the MP joint rotation shaft 21 can be changed more effectively.
  • the guide coil lever 30 is fixed to the palm 51, and the wire A and the wire C are guided into the compression spring 31 of the guide coil lever 30.
  • One end of the wire A is inserted into the compression spring 31 and fixed to the washer 37 (see FIG. 4) of the spring structure 20, and the other end is wound around the pulley 17 (see FIG. 1B) clockwise.
  • One end of the wire C is inserted into the compression spring 31 and connected to the washer 36 (see FIG. 4) of the spring structure 20, and the other end is connected to the action point 19 ⁇ / b> A of the index finger 53.
  • the wire C is connected to the action point 19A so as to pass through a position away from the MP joint rotation shaft 21.
  • the wire A and the wire B may be two independent wires or may be wound around the pulley 17 so as not to idle one wire (see FIG. 1B), and one end may be the wire A and the other end may be the wire B. . That is, it is only necessary to have a portion corresponding to the wire A and a portion corresponding to the wire B regardless of the number of wires.
  • FIG. 4 shows a configuration example of the guide coil lever 30.
  • the guide coil lever 30 includes a spring structure 20, a cross link 35 connected to the spring structure 20, and a base 38 that supports the cross link 35.
  • the guide coil lever 30 is fixed to the palm 51 by a base 38.
  • the spring structure 20 has a pair of washers 36 and 37 and a compression spring 31 fixed at both ends to the washers 36 and 37, as in FIG.
  • One end of one link 35 a of the cross link 35 is fixed to a washer 36, and the other end is slidably held in a groove 39 of the base 38.
  • One end of the other link 35b is fixed to the washer 37, and the other end is slidably held in the groove 39 of the base 38.
  • FIG. 5 shows a state in which the hand is closed by the motor-driven hand 1C.
  • the torque is maximized and the pinch force is maximized.
  • the angle formed by the base 38 and the link 35a of the guide coils lever 30 (or links 35b), the maximum angle theta 2, and the height of the cross link 35 is the highest.
  • the wire C is farthest from the MP joint rotation axis 21 and the moment arm R is maximum.
  • the wire B is pulled in a direction to be unwound from the pulley 17 (or the output shaft 13 of the motor 11).
  • the gear ratio can be made variable efficiently.
  • any member that can expand and contract such as a pantograph or a bellows, may be used.
  • FIG. 6 shows a motor-driven hand 1D as a modification of the second embodiment.
  • 6A shows a state in which the hand is opened
  • FIG. 6B shows a state in which the hand is closed.
  • the motor-driven hand 1D has two guide coil levers 30A and 30B that are commonly supported by the base 38.
  • the guide coil lever 30A and the guide coil lever 30B have the same configuration as described with reference to FIGS.
  • the wire D is used.
  • One end of the wire B is wound counterclockwise around the pulley 17 or the output shaft 13 of the motor 11, and the other end is fixed to the end (washer) on the index finger 53 side of the guide coil lever 30B.
  • One end of the wire D is fixed to the end (washer) of the guide coil lever 30B on the motor 11 side, and the other end is connected to the action point 19B of the index finger 53. Both the wire B and the wire D are inserted through the compression spring 31 and guided.
  • the compression spring 31 of the guide coil lever 30A is contracted by the tension of the wire A and the wire C, and the cross link 35A is raised.
  • the wire B is unwound to reduce the tension, the cross link 35B of the guide coil lever 30B is folded to the lowest position, and the moment arm R 'is reduced.
  • FIG. 7 is a schematic view of a motor-driven hand 1E according to the third embodiment.
  • 7A is a side view seen from the thumb side when the palm of the motor-driven hand is the front
  • FIG. 7B is a cross-sectional view taken along the line AA ′ in FIG. 7A.
  • the self-aligning tensioner 40 is used to realize a quick movement at the start of the hand opening / closing operation and a stable wire tension.
  • the same components as those in the first embodiment are denoted by the same reference numerals, and redundant description is omitted.
  • the self-aligning tensioner 40 includes a housing 45 and a guide coil 41 and a guide coil 42 each having one end fixed to the housing 45.
  • the housing 45 surrounds the output shaft 13 of the motor 11 and is in contact with the pulley 17 in a frictionable state.
  • the guide coils 41 and 42 are formed of compression springs, the wire A is inserted through the guide coil 41, one end of which is wound around the pulley 17 in the clockwise direction, and the other end is connected to the action point 19A of the index finger 53. .
  • the wire B is inserted through the guide coil 42, one end of which is wound around the pulley 17 counterclockwise, and the other end is connected to the action point 19 ⁇ / b> B of the index finger 53.
  • the wire A and the wire B may be two independent wires or may be wound around the pulley 17 so as not to idle one wire (see FIG. 1B), and one end may be the wire A and the other end may be the wire B. .
  • the pulley 17 is fixed to the output shaft 13 of the motor 11, and the rotational force of the motor 11 is transmitted from the pulley 17 to the action points 19 A and 19 B of the index finger via the wires A and B.
  • the guide coil 41 is fixed starting from the intersection of the tangent drawn from the point of action 19A of the index finger 53 to the pulley 17 and the outer periphery of the housing 45 or the vicinity thereof.
  • the guide coil 42 is fixed starting from the intersection of the tangent drawn from the point of action 19B of the index finger 53 to the pulley 17 and the outer periphery of the housing 45 or the vicinity thereof.
  • the direction in which the guide coil 41 and the guide coil 42 extend is in a plane parallel to the rotation surface of the housing 45.
  • the self-aligning tensioner 40 uses the frictional force between the housing 45 and the pulley 17 to generate an acting force in the normal direction of the wire A and the wire B, thereby reducing the reduction ratio and the wire. Stabilize traction of A and B. However, almost no force is generated in the longitudinal direction of the wires A and B, and the operation of the four fingers including the index finger 53 is not limited.
  • FIG. 8A shows an initial state. In this state, the motor 11 is not rotating.
  • the guide coils 41 and 42 are bent by the interaction between the wire A and the guide coil 41 and the interaction between the wire B and the guide coil 42 during the gripping operation, and the turning radius for the wire A is increased. Becomes smaller. In other words, the moment arm as seen from the output shaft 13 of the motor 11 gradually decreases, and the reduction ratio gradually increases.
  • the housing 45 rotates in the clockwise direction together with the pulley 17 until just before the rotation of the motor 11 overcomes the static frictional force.
  • Whether the housing 45 is interlocked with the rotation of the motor 11 is determined by the magnitude relationship between the frictional force between the pulley 17 and the tension applied to the wire A and the wire B. That is, the housing 45 rotates in the clockwise direction and the counterclockwise direction within a certain angle range according to the rotation direction of the motor 11.
  • FIG. 10 is a schematic view of a motor-driven hand 1F according to the fourth embodiment.
  • the guide coil levers 30A and 30B of the second embodiment and the self-aligning tensioner 40 of the third embodiment are used in combination.
  • FIG. 10A shows a state where the hand is open
  • FIG. 10B shows a state where the hand is closed.
  • the gripping operation is started and the object is approached, that is, when the operation is performed with a relatively weak torque
  • the self-aligning tensioner 40 works effectively to realize a quick movement.
  • the lengths of the wire A and the wire B are adjusted by the compression springs 31 of the guide coil levers 30A and 30B to prevent the wire A and the wire B from being entangled.
  • This configuration realizes a motor-driven hand 1F having a sufficient pinch force and natural operation. Even when the guide coil lever 30B is omitted, the same effect can be obtained.
  • FIG. 11 shows an example of a control configuration for preventing overload.
  • a motor current detection circuit 60 is connected to the motor drive hand 1F.
  • the motor current detection circuit 60 includes a motor controller 61 and a current sensor 62.
  • the rotation angle of the MP joint rotation shaft 21 is detected by the potentiometer 23, and the detection result is supplied to the motor controller 61.
  • the motor controller 61 controls the motor 11 based on the detected rotation angle so that the rotation angle of the MP joint rotation shaft 21 does not exceed a predetermined value.
  • the current sensor 62 may be connected to the motor 11 and the motor 11 may be controlled so that the current value of the motor 11 does not exceed a certain value based on the current detection result.
  • FIG. 12 shows an example of overload prevention control by the motor controller 61.
  • the horizontal axis represents time, and the vertical axis represents the current flowing through the motor 11.
  • the current value suddenly rises from zero, and the index finger 53 starts to move toward the thumb 52.
  • the current value gradually increases.
  • the moment arm with respect to the MP joint rotation shaft 21 is large at this time, and a sufficient pinch force is ensured.
  • a more accurate pinch operation may be realized by combining current control. The movement of the four fingers in this section is slow, and the operation moves to carefully grasping the object.
  • the current value is controlled so as not to exceed a certain value. An excessive load is prevented from being applied to the motor 11, and the object is held with a constant force.
  • control which detects the electric current of the motor 11 may replace with the control which detects the electric current of the motor 11, and may detect and control the change of the length of the compression spring 31 of the guide coil lever 30.
  • FIG. 13 is a diagram showing the effect of the boost mechanism of the motor-driven hand according to the embodiment in comparison with the conventional configuration.
  • FIG. 13A shows the pinch force in the configuration of the first embodiment
  • FIG. 13B shows the pinch force in the conventional linear motion drive system.
  • the same general-purpose RC servo motor was used, and the current value of the maximum output of the servo motor was measured using a pinch meter. From the measurement results, it can be seen that the configuration of Embodiment 1 can achieve a pinch force that is twice or more that of the direct drive system.
  • the configuration of the second embodiment can increase the moment arm more effectively than the first embodiment, it is predicted that the pinch force can be further increased under the same conditions. Further, by using at least one of the guide coil lever 30 and the self-aligning tensioner 40, a more natural movement is realized in the motor-driven hand.
  • FIG. 14 is a diagram for explaining the mechanism of the boost mechanism of the motor-driven hand having the configuration of the first embodiment.
  • the point O is the rotation center of the output shaft 13 of the motor 11
  • the point C is the action point 19 ⁇ / b> A
  • the point M is the rotation center of the MP joint rotation shaft 21.
  • the T point is the tip of the index finger 52
  • a pinch force is generated at the T point by the rotation of the motor 11.
  • Y is a vertical base line
  • ⁇ 3 is an angle formed by the MO line and the vertical base line Y.
  • FIG. 15 plots the pinch force as a function of ⁇ 3.
  • the horizontal axis is the angle ⁇ 3, and the vertical axis is the magnitude of the pinch force.
  • the motor drive voltage is 5 V
  • the distance between MCs is 26 mm
  • the distance between MTs is 70 mm.
  • ⁇ 3 and the pinch force are correlated, and as the value of ⁇ 3 decreases, the moment arm length increases and the pinch force increases. From FIG. 15, it is confirmed that the angle ⁇ 3 is one of the machine elements that influence the maximum pinch force of the motor-driven hand. Further, ⁇ 3 can be set in a range of at least 70 ° to 110 ° with a motor-driven hand.
  • the torque increasing operation of the first to fourth embodiments or the operation of the booster mechanism is further stabilized.
  • the angular velocity of the MP joint rotation shaft 21 can be effectively reduced. It is changing. However, due to secular change, at least a part of the wires A, B, C, and D may be deteriorated, and bending and slipping may occur. Therefore, the ball chain 65 is used for at least a part of the wires A to D.
  • the ball chain 65 is made of a light and strong material such as stainless steel, aluminum, carbon, and duralumin. The diameter of each ball of the ball chain 65 can be appropriately selected according to the size of the motor-driven hand 1G and required characteristics.
  • a stainless steel ball chain 65 having a ball diameter of 2.0 to 2.5 mm is used.
  • One end side of the ball chain 65 is fixed to the action point 19A of the index finger 53 of the motor-driven hand 1G, and the other end is fixed to the action point 19B opposite to the action point 19A of the index finger 53.
  • the chain wheel 80 is used for the pulley fitted to the output shaft 13 of the motor 11 so that the motor 11 can pull the ball chain 65 and rotate the four fingers including the index finger.
  • FIG. 17 shows a configuration example of the chain wheel 80.
  • FIG. 17A is an external view of the chain wheel 80
  • FIG. 17B shows a gear shape formed on the chain wheel 80.
  • the chain wheel 80 is designed to suit the size and characteristics of the ball chain 65.
  • the dynamic torque ⁇ of the motor 11 when the input voltage is 5 V is 529 N ⁇ mm.
  • the length r of the normal from the center of the MP joint rotation shaft 21 to the ball chain 65 is decreased.
  • the ball diameter of the ball chain 65 is 2.3 mm
  • the diameter of the output shaft 13 of the motor 11 the size of the motor driving hand 1G (including the distance from the MP joint rotating shaft 21 to the tip of the index finger 53)
  • the action point 19A From the conditions such as the position, the minimum value of the moment arm r is about 5.2 mm. That is, the maximum value of the pulling force F is 101.7N. If the yield strength of the ball chain 65 is 51N to 59N, as shown in FIG.
  • the hole 82 is formed in two stages in the pulley 82 of the chain wheel 80, and the ball chain 65 is used in a double manner. Is desirable. Thereby, the pulling force F can be dispersed to prevent the ball chain 65 from being broken.
  • the hole 81 formed on the outer periphery of the chain wheel 80 may be formed in one step.
  • the pulley 82 may be provided with three or more steps (triple) holes 81.
  • the diameter of the hole 81 of the chain wheel 80 is set according to the ball diameter of the ball chain 65 to be used.
  • twelve holes 81 are formed per step along the outer periphery of the pulley body 62 having a diameter of about 10 mm.
  • the cross-sectional shape of the hole 81 may take any shape such as a semicircular shape (hemispherical groove), a V shape (conical groove), or a U shape (a combination of a cylindrical groove and a hemispherical groove).
  • the design specifications in FIG. 17 are merely examples, and can be appropriately changed according to the age, body shape, etc. of the wearer of the motor-driven hand 1G. 16 and 17 may be combined with at least one of the guide coil lever 30 and the self-aligning tensioner 40.
  • the human finger moves quickly when the resistance is low, and generates a large force when the resistance is high.
  • the guide coil lever 30 By using the guide coil lever 30, the moment arm length between the MP joint rotation shaft 21 and the ball chain 65 is adjusted to enable an operation closer to a human finger.
  • the self-aligning tensioner 40 it is possible to quickly absorb the deflection of the chain wheel 80 and the ball chain 65 when performing an operation of grasping and releasing an object.
  • the pulley 70 includes a first cylinder 71 and a second cylinder 72 having different diameters.
  • the other end of the wire A one end of which is fixed to the action point 19A (see FIG. 1 and the like), is fixed and wound around the first cylinder 71 having a small diameter.
  • the other end of the wire B one end of which is fixed to the action point 19B (see FIG. 1, etc.), is fixed and wound around the second cylinder 72 having a large diameter.
  • the winding directions of the wire A and the wire B are opposite to each other.
  • the first cylinder 71 having a small diameter has a smaller winding amount per unit time than the second cylinder 72, and moves the index finger 53 of the motor-driven hand slowly.
  • the second cylinder 72 has a larger winding amount per unit time than the first cylinder, and moves the index finger 53 of the motor-driven hand faster.
  • a hole 81 as in the fifth embodiment may be formed in each of the first cylinder 71 and the second cylinder 72, and the ball chain 61 may be used for at least one of the wire A and the wire B. As a result, the opening / closing operation of the motor-driven hand becomes more stable.
  • the motor-driven hands 1A to 1G described in the embodiment and any combination thereof are applied to a myoelectric prosthetic hand and a robot hand, and are particularly expected to be applied to a myoelectric prosthetic hand and a small robot hand for children.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne une main compacte actionnée par un moteur qui possède une force de pincement suffisante et permet d'obtenir un mouvement naturel. La main actionnée par un moteur est pourvue : d'une partie paume ; d'une partie doigt qui est reliée rotative à la partie paume au moyen d'un arbre de rotation d'articulation ; d'un moteur qui entraîne la partie doigt ; d'une première partie câble dont une extrémité est enroulée autour d'un arbre de sortie du moteur et dont l'autre extrémité est reliée à un premier point de fonctionnement de la partie doigt ; et d'une seconde partie câble dont une extrémité est enroulée autour de l'arbre de sortie du moteur et dont l'autre extrémité est fixée à un second point de fonctionnement de la partie doigt. La première partie câble est reliée au premier point de fonctionnement de sorte que la distance entre la première partie câble et l'arbre de rotation d'articulation augmente lorsque le moteur tourne dans un premier sens. La seconde partie câble est reliée au second point de fonctionnement de sorte que la tension augmente lorsque le moteur tourne dans un second sens opposé au premier sens.
PCT/JP2016/074365 2015-08-24 2016-08-22 Main actionnée par un moteur Ceased WO2017033885A1 (fr)

Priority Applications (1)

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JP2017536417A JPWO2017033885A1 (ja) 2015-08-24 2016-08-22 モータ駆動ハンド

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JP2015-165296 2015-08-24
JP2015165296 2015-08-24

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WO2017033885A1 true WO2017033885A1 (fr) 2017-03-02

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PCT/JP2016/074365 Ceased WO2017033885A1 (fr) 2015-08-24 2016-08-22 Main actionnée par un moteur

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Cited By (6)

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CN113799099A (zh) * 2021-09-10 2021-12-17 迈宝智能科技(苏州)有限公司 驱动组件、有源外骨骼运动模组及有源外骨骼机器人
CN114193493A (zh) * 2021-11-15 2022-03-18 国家电网有限公司 绝缘杆构成的无线控制电动机械爪系统
JP2023063032A (ja) * 2021-10-22 2023-05-09 本田技研工業株式会社 駆動装置
CN117257448A (zh) * 2023-09-20 2023-12-22 北京航空航天大学 一种牵拉结构及柔性手术机器人
WO2024171670A1 (fr) * 2023-02-16 2024-08-22 株式会社椿本チエイン Chaîne
CN118927228A (zh) * 2024-09-12 2024-11-12 上海优理奇智能科技有限公司 一种灵巧手用带力反馈的腱绳自动张紧装置及其使用方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4166286B1 (fr) 2020-12-24 2025-06-25 Samsung Electronics Co., Ltd. Main de robot

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JPH11267987A (ja) * 1998-03-23 1999-10-05 Mitsubishi Heavy Ind Ltd 関節機構
JP2007319954A (ja) * 2006-05-30 2007-12-13 Merry B:Kk 可動軸駆動装置およびロボット装置
JP2012106311A (ja) * 2010-11-17 2012-06-07 Canon Inc 関節駆動機構
JP2015136526A (ja) * 2014-01-23 2015-07-30 オリンパス株式会社 術具及び医療用マニピュレータシステム

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JPH11267987A (ja) * 1998-03-23 1999-10-05 Mitsubishi Heavy Ind Ltd 関節機構
JP2007319954A (ja) * 2006-05-30 2007-12-13 Merry B:Kk 可動軸駆動装置およびロボット装置
JP2012106311A (ja) * 2010-11-17 2012-06-07 Canon Inc 関節駆動機構
JP2015136526A (ja) * 2014-01-23 2015-07-30 オリンパス株式会社 術具及び医療用マニピュレータシステム

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113799099A (zh) * 2021-09-10 2021-12-17 迈宝智能科技(苏州)有限公司 驱动组件、有源外骨骼运动模组及有源外骨骼机器人
JP2023063032A (ja) * 2021-10-22 2023-05-09 本田技研工業株式会社 駆動装置
JP7577638B2 (ja) 2021-10-22 2024-11-05 本田技研工業株式会社 駆動装置
CN114193493A (zh) * 2021-11-15 2022-03-18 国家电网有限公司 绝缘杆构成的无线控制电动机械爪系统
CN114193493B (zh) * 2021-11-15 2024-04-02 国家电网有限公司 绝缘杆构成的无线控制电动机械爪系统
WO2024171670A1 (fr) * 2023-02-16 2024-08-22 株式会社椿本チエイン Chaîne
CN117257448A (zh) * 2023-09-20 2023-12-22 北京航空航天大学 一种牵拉结构及柔性手术机器人
CN118927228A (zh) * 2024-09-12 2024-11-12 上海优理奇智能科技有限公司 一种灵巧手用带力反馈的腱绳自动张紧装置及其使用方法

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