Patent ID: 6918622

Claim:
A robot hand comprising: a robot hand base portion; two moving fingers installed facing each side of the hand base portion; first and second horizontal moving guides installed at each said moving finger facing each other, of which one end is binge-coupled at the hand base portion and the other end is hinge-coupled at the moving finger, so as to form a parallelogram 4-joint link structure to force the moving finger to move in a direction extending along a side of the moving finger; a horizontal moving unit for making the horizontal moving guides to be rotated on the basis of a shaft hinge-coupled at the hand base portion, said horizontal moving unit comprising: a second driving motor for driving the horizontal moving guides to be rotated centering around a shaft hinge-coupled with the hand base portion; and a horizontal movement driving force transfer unit installed between the second driving motor and the horizontal moving guides so that the horizontal moving guides are rotated by using a driving force of the second driving motor, said horizontal movement driving force transfer unit comprising two moving worm gears formed at one of the first and second horizontal moving guides respectively coupled to the two moving fingers, two moving worms installed to be simultaneously in mesh with the two moving worm gears, and a clutch unit for driving the moving worms by means of the second driving motor.