| 摘要 |
PROBLEM TO BE SOLVED: To provide a finger mechanism for a robot hand that has achieved both a high degree of gripping force and a high speed opening and closing of fingers, and to provide a robot hand that can be downsized having this mechanism.SOLUTION: Upon motors 5a, 5b being driven, pinion gears 7a, 7b are brought to rotate in a direction of an arrow A by output shafts 6a, 6b of the motors 5a, 5b, while, further engaging with racks 8a, 8b, move in the horizontal direction (in a direction of an arrow B). In accompanying driving of the motors 5a, 5b, finger parts 4a, 4b fixed on the output shafts 6a, 6b respectively rotate in a direction of approaching a to-be-gripped object O (in a direction of an arrow C). Meanwhile, horizontal movement of pinion gears 7a, 7b with respect to the racks 8a, 8b brings gear boxes 3a, 3b, together with the output shafts 6a, 6b and motors 5a, 5b, to be moved in directions in which they mutually approach each other (in a direction of an arrow D). This brings the finger parts 4a, 4b also to be moved in directions of mutually approaching each other. |
