Robot hand

Abstract

An aspect of the invention provides a robot hand that performs an action for gripping an object between plural finger sections provided to be capable of changing a distance between the finger sections. Between the plural finger sections, a palm section movable along a direction in which a base side of the plural finger sections and a distal end side of the plural finger sections are connected is provided.

What is claimed is: 
     
         1 . A robot hand comprising:
 a hand base;   a first finger section;   a second finger section;   a third finger section;   a fourth finger section;   a first guide section attached between the first finger section and the second finger section, the first finger section and the second finger section being slidable in a first direction;   a second guide section attached between the third finger section and the fourth finger section, the third finger section and the fourth finger section being slidable in a second direction; and   a palm section attached to the hand base, the palm section being movable in a third direction that is perpendicular to the first direction and does not intersect with the first direction and the second direction;   wherein the first finger section, the second finger section, the third finger section and the fourth finger section are movable to grip an object.   
     
     
         2 . The robot hand according to  claim 1 , wherein a distance between a gripping surface of the first finger section and a gripping surface of the second finger section is shorter than a distance between a base of the first finger section and a base of the second finger section, and a distance between a gripping surface of the third finger section and a gripping surface of the fourth finger section is shorter than a distance between a base of the third finger section and a base of the fourth finger section. 
     
     
         3 . The robot hand according to  claim 1 , wherein the palm section is movable independent of the first finger section, the second finger section, the third finger section and the fourth finger section. 
     
     
         4 . The robot hand according to  claim 1 , wherein the palm section is simultaneously movable with the first finger section, the second finger section, the third finger section and the fourth finger section. 
     
     
         5 . A robot comprising the robot hand according to  claim 1 . 
     
     
         6 . A robot comprising the robot hand according to  claim 2 . 
     
     
         7 . A robot comprising the robot hand according to  claim 3 . 
     
     
         8 . A robot comprising the robot hand according to  claim 4 .