Patent ID: 7959199

Claim:
A finger unit for a robot hand, comprising: a rotation actuator; a driving bevel gear that is secured in a coaxial state to a forward end of a rotation output shaft of the rotation actuator; a joint shaft that is arranged in a direction that is perpendicular to a central axis line of the rotation output shaft; a driven bevel gear, which is secured in a coaxial state to the joint shaft, and which meshes with the driving bevel gear; a swivel arm, which is linked to the joint shaft, and which extends in a direction that is perpendicular to the joint shaft; a finger body, which is linked to the swivel arm; and a tubular housing having a closed forward end section and a rear end constituting an opening; wherein the joint shaft, the driven bevel gear, and the driving bevel gear are accommodated in the tubular housing; at least a first shaft end section of shaft end sections of the joint shaft passes through the tubular housing and protrudes outward, and the swivel arm is linked to the first shaft end section on an exterior of the tubular housing; and the opening of the tubular housing is closed by a forward end section of a main body of the rotation actuator attached to the tubular housing; wherein: first and second openings are formed in positions on either end of the joint shaft in the tubular housing in an axis line direction; the first shaft end section protrudes to the exterior of the tubular housing via the first opening; the first shaft end section of the joint shaft is rotatably supported by a first bearing, which is attached at a site on an interior of the first opening in the tubular housing; a gap between the first opening and the joint shaft is sealed off using an oil seal; the second opening is closed by a cover member, which is screwed securely to the second opening; and a second shaft end section of the joint shaft is rotatably supported by a second bearing, which is attached to a circular recessed section formed on an interior end surface of the cover member.