| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot hand that has only two degrees of freedom in vertical and horizontal directions for transporting a work present on a floor and that has a sucking function using a tool fitted to a fingertip part and an ordinary gripping function using a pair of fingertip parts and can change the functions according to the shape of the work without adding any power source.SOLUTION: A robot hand 22 that includes a pair of fingertip parts 4, 4 which open and close to grip a work, a pair of parallel link parts 3', 3' which open and close the pair of fingertip parts 4, 4, and a suction tool 5 which is provided at one fingertip part 4 and sucks and holds the work is equipped with a suction tool putting-in/out mechanism 7 which puts the suction tool 5 in and out between a storage position and a projection position as the pair of fingertip parts 4, 4 open and close so as to switch and use a sucking and holding function using the suction tool 5 and an ordinary gripping function using the pair of fingertip parts 4, 4 according to the shape of the work. |
