Gripping hand for a manipulator

• US 4,740,126 A
• Filed: 07/21/1986
• Issued: 04/26/1988
• Est. Priority Date: 11/23/1984
• Status: Expired due to Term

• Current Assignee: Blomberg Robotertechnik GmbH
• Original Assignee: Blomberg Robotertechnik GmbH
• Inventors: Richter, Hans
• Primary Examiner(s): Spar, Robert J.
• Assistant Examiner(s): Doyle, Jennifer
• Application Number:
  US06/887,042
• Time in Patent Office: 645 Days
• Field of Search: 901/1, 901/3, 901/4, 901/50, 414/1, 414/4, 414/5, 414/6, 128/26, 128/77, 623/63, 623/64
• US Class Current: 414/4
• CPC Class Codes: B25J 15/0009 comprising multi-articulated fingers, e.g. resembling a human hand
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B25J 9/0081 with master teach-in means

Abstract

A gripping hand for a manipulator which consists of several hollow elements, simulating the human hand, which are linked to one another by articulations, whereby each member has a corresponding, reversibly actuated positioning drive and a sensor. For programming, the sensors detect the movements of the elements which are derived from a human hand inserted in the gripping hand, and the signals from the sensors determine the program which the elements perform, controlled by the relevant positioning drive. The gripping hand is associated with an arm which can be programmed by the movements of the gripping hand, if a human hand describing these movements is inserted in the gripping hand, and this arm can perform movements in three mutually perpendicular axes and rotary movements.

Claims

1. A gripping hand for a manipulator, said gripping hand comprising:

a plurality of hollow members simulating the human hand, including finger members and a hand back member said plurality of hollow members being interconnected in an articulated manner,

a reversibly actuated positioning drive and a sensor being associated with each of said plurality of hollow members, said sensors detecting, for programming purposes, movements of said plurality of hollow members derived from a human hand inserted in said plurality of hollow members and signals generated by said sensors determining a program to be later performed by said plurality of hollow members, as controlled by a particular positioning drive,

an arm, said plurality of hollow members being detachably connected on said arm and said arm being programmable by the movements of said hand back member, if a human hand performing movements is inserted in said plurality of hollow members and said arm is able to perform movements in three axes which are perpendicular to one another and also rotary movements,

a programming means mounted on said arm,

a rigid connecting piece connected to said arm, an end of said connecting piece remote from said arm having a first coupling,

an end of said programming means remote from said arm being connected to said hand back member facing said arm and said hand back member being detachably connected via said first coupling to said rigid connecting piece, said programming means being detachably connected to said arm, and said rigid connecting piece including a coupling member detachably connected via a third coupling to said connecting piece and carrying said first coupling.

2. Gripping hand according to claim 1, wherein said end of said programming means remote from said arm includes a second coupling, with which said programming means is detachably connected to said hand back member.

3. Gripping hand according to claim 1, wherein said programming means for each movement direction of said arm has at least one sensor means.

4. Gripping hand according to claim 3, wherein said programming means includes an inner part rigidly connectable to said arm and a sleeve engaging surrounding said inner part, said sleeve being connectable to said hand back member, and said sensor means being arranged between said inner part and said sleeve.

5. Gripping hand according to claim 1, wherein a push-button switch is arranged on said programming means.

10. Gripping hand according to claim 1, wherein a push-button switch is arranged on said programming means.

6. A gripping hand for a manipulator, said gripping hand comprising:

a plurality of hollow members simulating the human hand, including finger members and a hand back member said plurality of hollow members being interconnected in an articulated manner,

a reversibly actuated positioning drive and a sensor being associated with each of said plurality of hollow members, said sensors detecting, for programming purposes, movements of said plurality of hollow members derived from a human hand inserted in said plurality of hollow members and signals generated by said sensors determining a program to be later performed by said plurality of hollow members, as controlled by a particular positioning drive,

an arm, said plurality of hollow members being detachably connected on said arm and said arm being programmable by the movements of said hand back member, if a human hand performing movements is inserted in said plurality of hollow members and said arm is able to perform movements in three axes which are perpendicular to one another and also rotary movements,

a programming means mounted on said arm,

a rigid connecting piece, an end of said rigid connecting piece remote from said arm having a first coupling,

an end of said programming means remote from said arm being connected to said hand back member facing said arm and said hand back member being detachably connected via said fist coupling to said rigid connecting piece, said programming means for each movement direction of said arm having at least one sensor means, said programming means including an inner part rigidly connectable to said arm and a sleeve surrounding said inner part, said sleeve being connectable to said hand back member and said sensor means being arranged between said inner part and said sleeve.

7. Gripping hand according to claim 6, wherein said end of said programming means remote from said arm includes a second coupling, with which said programming means is detachably connected to said hand back member.

8. Gripping hand according to claim 6, wherein said programming means is detachably connected to said arm.

9. Gripping hand according to claim 8, wherein said connecting piece includes a coupling member detachably connected via a third coupling to said rigid connecting piece and carries said first coupling.

11. A gripping hand on a manipulator adapted to be manipulated by a human operator to perform a task during a programming mode of operation, wherein different portions of said gripping hand and said manipulator are moved during said programming mode and signals representative of the movements are recorded for purposes of later driving said different portions to effect like movements during an operating mode of operation, said gripping hand of said manipulator comprising:

a hollow central hand member,

a plurality of hollow finger members interconnected sequentially to one another and to said central hand member by a plurality of pivotal joints forming hollow articulated finger units which receive fingers of a human operator and which is capable of movements about said joints through a range of movement corresponding to those of the human fingers during said programming mode,

a plurality of finger member sensor elements for sensing movements of said finger members to generate signals representative of said movements during said programming mode,

a plurality of finger member driving means responsive respectively to said signals for moving said finger members relative to one another and relative to said central hand member during said operating mode,

a rigid connecting piece on an arm of said manipulator,

a coupling member which is detachably connected via a first coupling to said connecting piece and via a third coupling to said hand, and

programming means on said arm parallel to said connecting piece for programming movements of said arm in three perpendicular axes and around said axes during said programming mode, the end of said programming means remote from said arm being connected to said central hand member.

12. A gripping hand as defined in claim 11, wherein said programming means is detachably connected to said arm and to said central hand member.

13. A gripping hand as defined in claim 11, wherein said programming means includes an inner part rigidly connected to said arm, a sleeve surrounding said inner part and sensor means arranged between said inner part and said sleeve for sensing movements of said sleeve relative to said inner part in said perpendicular axes and around said axes during said programming mode, said sleeve being connected to said central hand member.