Patent ID: 8276957
Filing Date: 2012-10-02
Classification: B25J

Abstract:
1. A finger mechanism of a robot hand, comprising: a first link capable of turning left and right about a first fulcrum from a neutral position of extending in a longitudinal direction; a second link capable of turning left and right about a second fulcrum placed at a position behind the first fulcrum, from a neutral position of extending in the longitudinal direction; a middle link having one end linked to a first panel point behind the first fulcrum of the first link, and another end linked to a second panel point in front of a second fulcrum of the second link, the middle link being composed of an elastic member capable of expanding and contracting in the direction in which the first panel point and second panel point approach and separate in a lateral direction; a third link having one end linked to a third panel point behind the second fulcrum of the second link and being capable of rectilinear movement in the lateral direction; and a drive mechanism for moving the third link back and forth in a rectilinear manner, and wherein an object-gripping member is attached to a distal end of the first link in a state of being capable of turning left or right about a neutral position of extending in a longitudinal direction; a first wire is rigged around pulleys placed in established positions between a region of the object-gripping member on one side of the turning center, and a region of the first link behind the left first fulcrum; and a second wire is rigged around the pulleys between a region of the object-gripping member on the other side of the turning center, and a region of the second link nearer to a distal end than the second fulcrum.