Finger unit for robot hand

Abstract

A finger unit of a robot hand has a first rotational actuator, a first finger joint part, a first finger linkage, a second finger joint part, and a second finger linkage that are connected in this order. A second rotational actuator is attached to the first finger linkage. The first finger linkage swivels about the first finger joint part by the first rotational actuator, and the second finger linkage swivels about the second finger joint part by the second rotational actuator. The second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line connecting a center of rotation of the first finger joint part and a center of rotation of the second finger joint part. With this configuration, an axial length of the finger unit of a robot hand can be shortened.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view showing a finger unit of a high-speed robot hand in which the present invention is used;

FIG. 2 is a plan view of the finger unit of FIG. 1;

FIG. 3 is a side view of the finger unit of FIG. 1; and

FIGS. 4A, 4B, 4C, and 4D are perspective, plan, sectional, and side views showing the first rotational actuator, the first finger joint part, and the first finger linkage of the finger unit.

Claims

1. A finger unit of a robot hand comprises: a first rotational actuator, a first finger joint part, a first finger linkage, a second finger joint part, and a second finger linkage that are connected in this order, anda second rotational actuator attached to the first finger linkage; whereinthe first finger linkage swivels about the first finger joint part by means of the first rotational actuator;the second finger linkage swivels around the second finger joint part by means of the second rotational actuator; andthe second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line passing through a center of rotation of the first finger joint part and a center of rotation of the second finger joint part.

2. A finger unit of a robot hand comprising: an attachment flange;a first rotational actuator attached to the attachment flange;a rotational output shaft of the first rotational actuator that passes through the attachment flange and protrudes forwardly;a first drive-side bevel gear coaxially fixed to a distal end part of the rotational output shaft;a pair of first bearing housings that extend forward and pass through both sideward positions of the first drive-side bevel gear from a front surface of the attachment flange;first bearings attached to the respective first bearing housings;a first joint shaft rotatably supported on both ends by the first bearings and arranged in a direction perpendicular to the central axis line of the rotational output shaft of the first rotational actuator;a first driven-side bevel gear coaxially fixed to the first joint shaft and engaged with the first drive-side bevel gear;a first finger linkage extending in the direction perpendicular to the first joint shaft and having a rear end part fixed to the first joint shaft;a second rotational actuator attached to a forward end part of the first finger linkage;a rotational output shaft of the second rotational actuator that passes through the forward end part of the first finger linkage and protrudes forwardly;a second drive-side bevel gear coaxially fixed to a distal end part of the rotational output shaft;a pair of second bearing housings that extend forward and pass through both sideward positions of the second drive-side bevel gear from a front end part of the first finger linkage;second bearings attached to the respective second bearing housings;a second joint shaft rotatably supported on both ends by the second bearings and arranged in a direction perpendicular to a central axis line of the rotational output shaft of the second rotational actuator;a second driven-side bevel gear coaxially fixed to the second joint shaft and engaged with the second drive-side bevel gear; anda second finger linkage extending in a direction perpendicular to the second joint shaft and having a rear end part fixed to the second joint shaft, whereinthe second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line connecting a center of rotation of the first finger joint part and a center of rotation of the second finger joint part.