ROBOT HAND DEVICE

PURPOSE:To cease the damage at an abnormal time at a minimum, by providing a 1st and 2nd displacement quantity sensors which are opposed to a light intercepting piece and motioned by the light intercepting piece with the specified distance being owned in the fore and aft direction on a hand part. CONSTITUTION:A control part has a positioning mechanism position input circuit, compliance displacement quantity sensor signal input circuit, positioning mechanism driving circuit, displacement quantity/force corresponding table and a main control part. Moreover a sensor has a 1st displacement quantity sensor A and 2nd displacement quantity sensor B actuated by a light intercepting piece 1a with its being opposed to the light intercepting piece 1a moved in the 1 fore and aft direction integrally with a finger part 1 and the light intercepting piece 1a at a hand part 3 dand being provided with its having the specified distance in the fore and aft direction. The position of this hand 3 is monitored via a positioning mechanism 4, the relative position of the hand 3 and finger 1 is monitored via the 1st and 2nd displacement quantity sensors A and B, and the suitability of an insertion/extraction works is decided with the feeding quantity of the positioning mechanism 4 being collated with a displacement quantity/force corresponding table.