Patent ID: 8585111

Claim:
A robot hand comprising: three or more finger units including a first finger unit and a second finger unit; a driving unit that causes the three or more finger units to perform an opening and closing action; and a finger-unit moving mechanism that changes a direction in which the opening and closing action of the first finger unit and the second finger unit is performed, wherein the finger-unit moving mechanism includes: a worm wheel; a motor that rotates the worm wheel; and a worm that rotates in a direction different from a rotating direction of the worm wheel in association with the rotation of the worm wheel, a first gear that rotates in a direction different from the rotating direction of the worm in association with the rotation of the worm is provided in the first finger unit and a second gear that rotates in a direction opposite to the rotating direction of the first gear in association with the rotation of the worm is provided in the second finger unit, the first finger unit and the second finger unit rotate, when the motor rotates, in a direction in which the finger units move close to each other or a direction in which the finger units move away from each other, and when the first gear and the second gear rotate at a same number of revolutions, a rotation angle at which the first gear rotates and the first finger unit rotates and a rotation angle at which the second gear rotates and the second finger unit rotates are equal to each other.