| 摘要 |
<p>A multi-finger hand device capable of smoothly retracting and extending finger mechanisms when article holding operation is performed while reducing the number of actuators as the drive sources for retracting and extending the finger mechanisms, wherein wires (29a) and (29b) extending from the finger mechanisms (2a) to (2e) energized to an extending side by springs (16) and (26) are connected to a connection member (32) and wires (30a) and (30b) are connected to a connection member (33), a wire (31) extended from the finger mechanism (2a) is wound on a pulley (36) and pulled out from the base part side of a palm part (3), the connection parts (32) and (33) are swingably held on a holding member (43) through pivot shafts (44) and (45), the holding member (43) is installed movably and rotatably around a pivot shaft (42), the pulley (36) is held on the holding member (43) and moved together with the holding member (43), and the bending operations of the finger mechanisms (2a) to (2e) are concurrently performed by pulling the wire (31), whereby, even if either finger mechanism does not move due to contact thereof with an object during the retracting and extending operations of the finger mechanisms (2a) to (2e), the retracting and extending operations of the other finger mechanisms can be performed.</p> |
