Robot hand and robot

A robot hand comprising:

• a frame;
• first to third finger units provided on the frame and grasping an object to be grasped;
• a Roberval unit driving the first to third finger units;
• and
• a servo motor provided on the frame and driving the Roberval unit,
• wherein each of the first to third finger units includes
• a finger frame provided on the frame,
• a Scott Russell mechanism configured with at least a swing lever member and a conversion link member, one of end portions of the swing lever member being pivotally connected to the finger frame, and the conversion link member being pivotally connected, at a connecting portion located in a middle portion thereof, to an other end portion of the swing lever member so as that one of end portions of the conversion link member moves in a direction intersecting with a moving direction of an other end portion of the conversion link member, and being allowed to make contact with the object to be grasped,
• a first parallel link mechanism configured with at least the swing lever member and a common link member pivotally connected to the connecting portion, and
• a second parallel link mechanism configured with at least the common link member, the conversion link member, a distal end portion link member and a facing conversion link member, the distal end portion link member being arranged in a position so as to face the common link member and pivotally connected to the other end portion of the conversion link member, and being able to make contact with the object to be grasped, and the facing conversion link member being arranged in a position so as to face the conversion link member and pivotally connected to each of the common link member and the distal end portion link member, and
• wherein the Roberval unit includes
• a first Roberval mechanism dividing an output of the servo motor into an intermediate output and a first output driving the first finger unit, and
• a second Roberval mechanism dividing the intermediate output into a second output driving the second finger unit and a third output driving the third finger unit.

A robot comprising a robot hand including a frame and at least two finger units provided on the frame and grasping an object to be grasped,

• wherein each of the finger units includes
• a finger frame provided on the frame,
• a Scott Russell mechanism configured with at least a swing lever member and a conversion link member, one of end portions of the swing lever member being pivotally connected to the finger frame, and the conversion link member being pivotally connected, at a connecting portion located in a middle portion thereof, to an other end portion of the swing lever member so as that one of end portions of the conversion link member moves in a direction intersecting with a moving direction of an other end portion of the conversion link member, and being allowed to make contact with the object to be grasped,
• a first parallel link mechanism configured with at least the swing lever member and a common link member pivotally connected to the connecting portion, and
• a second parallel link mechanism configured with at least the common link member, the conversion link member, a distal end portion link member and a facing conversion link member, the distal end portion link member being arranged in a position so as to face the common link member and pivotally connected to the other end portion of the conversion link member, and being able to make contact with the object to be grasped, and the facing conversion link member which is arranged in a position so as to face the conversion link member and pivotally connected to each of the common link member and the distal end portion link member.