Patent ID: 7077446

Claim:
A finger unit for a robot hand comprising: a mounting flange, an actuator attached to the mounting flange, a rotational output shaft of the actuator that passes through the mounting flange and projects in the forward direction, a drive-side bevel gear coaxially fixed to a tip portion of the rotational output shaft, a pair of bearing housings that extends in a forward direction away from a front surface of the mounting flange through positions on both sides of the drive-side bevel gear, bearings mounted in the bearing housings, a joint shaft rotatably supported at both ends by the bearings, and aligned in a direction perpendicular to a center axis line of the rotational output shaft of the actuator, a driven-side bevel gear coaxially fixed on an external peripheral surface of the joint shaft, and engaged with the drive-side bevel gear, a connecting member having one end rotatably fixed to the joint shaft, and extending in the direction perpendicular to the joint shaft, and a finger main body rotatably fixed to a tip portion of the connecting member.