Harmonic Drive Systems Inc.

Hiroshi Kameda

Junji Koyama

Masakatsu Sasahara

Toshiaki Kamata

Teizo Morimoto

Norio Shirokoshi

Kiyoto Kobayashi

Yoshinori Ito

Yoshihiro Tanioka

Harushige Aoyagi

Toshiyuki Abe

Hiroshi Nakagawa

A joint mechanism that can be used in an articulated finger unit of a robot hand has first and second actuators that are disposed facing each other from the front and back on either side of a perpendicular joint axle, and first and second drive bevel gears that are coaxially connected and fixed to distal ends of output axles thereof. A driven bevel gear fixedly mounted in coaxial manner on the perpendicular joint axle meshes with the first and second drive bevel gears. The perpendicular joint axle is rotatably driven by the two actuators, and a revolving bracket connected thereto revolves to the left and right. The drive torque of the joint axle can be increased without increasing the outside diameter dimensions of the mechanism.

Joint mechanism for robot hand and the like

An articulated finger unit has a two-jointed structure comprising a joint portion on a finger base side, a finger base portion, a joint portion on a fingertip side, and a fingertip portion; the joint portion on the finger base side has a drive-side bevel gear fixed to a rotational output shaft of an actuator, a driven-side bevel gear coaxially fixed to a joint portion that is perpendicular to the rotational output shaft, and a connecting member wherein an annular boss is fixed to the driven-side bevel gear and wherein a tip portion extends in a fork shape; and a cover on the finger base side is connected to the connecting member. A rotation of the rotational output shaft is converted to rotational movement of the joint shaft by way of a pair of bevel gears, and the connecting member fixed to the joint shaft turns right and left at an angle of 90&#xb0; or more about the joint shaft. The finger unit suitable for use in a robot hand that moves at high speed and with precision can be realized.

Finger unit for robot hand

A palm mechanism for a high-speed robot hand has a fixed-side articulated finger unit that projects forward from an upper side of a vertically positioned palm plate, and moveable-side articulated finger units disposed on both sides thereof. The left and right articulated finger units are capable of turning along two short sides of the rectangular palm plate from upper end positions on the palm mechanism. The articulated finger units are capable of bending up and down about joint portions thereof. A variety of operations, including gripping, picking, and throwing, can be performed rapidly and reliably by controlling relative positions of the three articulated finger units and controlling bending operations of the articulated finger units.

Palm mechanism for robot hand

An absolute sensor has a high speed side encoder mounted on a high speed rotational shaft , a low speed rotational shaft arranged coaxially with the high speed rotational shaft , a planetary gear mechanism for reducing the speed of rotation of the high speed rotational shaft and delivering the rotation of reduced speed to the low speed rotational shaft . The planetary gear mechanism has a fixed sun internal gear a, a front stage planetary gear b, a rear stage planetary gear c, and an output sun internal gear d connected to the rear stage planetary gear c and low speed rotational shaft , wherein the planetary gears b and c are rotatably supported by an eccentric shaft portion of the shaft . The planetary gear mechanism can be constituted so that the input and output shafts are arranged coaxially, and can be made small with having a large reduction ratio in comparison with the conventional reduction mechanism comprised by spur gears.

Absolute sensor

Planetary gear device

Growing community of inventors

Nagano-ken, Japan

Hiroshi Kameda