| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand that moves finger members in parallel and can grip an object without causing backlash by a simple configuration, and further to provide a robot and a gripping mechanism.SOLUTION: A robot hand comprises: four finger blocks provided with finger members; a driving mechanism for moving the finger blocks in a first direction or in a second direction; a plurality of peripheral blocks connected to the driving mechanism by driving shafts; and a plurality of guiding shafts that is inserted into sliding holes of the plurality of peripheral blocks and is slidable. The finger blocks are positioned at four corner portions of a quadrangular shape as viewed in a plan view from a third direction, the peripheral blocks and the plurality of guiding shafts are positioned along four side portions of the quadrangular shape, a center of the driving mechanism is positioned at a center of the quadrangular shape, two sides of the side portions are parallel to each other in the first direction, and other two sides of the side portions are parallel to each other in the second direction. The first direction, the second direction and the third direction are perpendicular to one another. The robot hand further comprises biasing members for biasing the finger blocks in movement directions in which the finger blocks are moved. |
