| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a robot finger unit which detects a load acting on a finger tip from the lateral side when holding a work-piece and inhibits damages of a pressure-sensitive sensor even if an excessive load acts thereon, and to provide a robot hand and a robot.SOLUTION: A robot finger unit includes: a case 43 of a finger 40 provided at a robot; a first swing member 44 which is provided ranging from the base end side to the tip side of the case 43 and is supported by the case 43 so as to swing with a center part set as a first supporting point 44a, the first swing member 44 including a pressure receiving part 44b which is disposed at the tip side and receives a load and a transmission part 44c which is disposed at the base end side and transmits the load; a facing part 48 which is supported by the case 43 and faces the transmission part 44c; a pressure-sensitive sensor 45 disposed between the transmission part 44c and the facing part 48; and an elastic part 46 which elastically deforms and thereby reduces a pressurizing force generated by the load and acting on the pressure-sensitive sensor 45.</p> |
