Robot finger device

Abstract

To achieve an operation for gripping a workpiece by closing a finger piece when preliminarily opening between tips of finger pieces before executing an operation for gripping the workpiece and lowering a finger device up to a surface on which the workpiece is put without an actuator.SOLUTION: A robot finger device includes: a finger piece opening / closing mechanism 50 which has two finger pieces 60, 80 which are openable / closable in a scissors-like manner, a first elastic member 110 which elastically energizes each finger piece in a closing direction, a gear mechanism 150 which rotates each finger piece in an opening direction when operational force in the opening direction is input and rotates each finger piece in the closing direction by energization force by the first elastic member when the operational force in the opening direction is released, and an input member 185 for inputting the operational force in the opening direction in the gear mechanism; and an opening / closing operation mechanism 200 which performs opening / closing operation of the finger piece opening / closing mechanism. The opening / closing operation mechanism has initial motion open lock means 220, lock release means 600, and opening state lock means 700.SELECTED DRAWING: Figure 10

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