Toyota Jidosha Kabushiki Kaisha

Harmonic Drive Systems Inc.

Kawasaki Jukogyo Kabushiki Kaisha

Morihiko Ohkura

Masashi Horiuchi

Hirokazu Ohta

Toshihiro Hirabayashi

Hisanori Nakamura

Hideo Narita

Masato Shirai

A multi-joint finger unit () has first and second joint sections () constructed by using bevel gears. In each joint section (), the section where a driving bevel gear () and a driven bevel gear () mesh with each other and also a bearing section of a joint shaft () are assembled in a tubular housing () whose forward end is closed. Rear end openings (A,) of the tubular housings () are closed by a tubular housing () at a finger root and a tubular housing () at a finger body section. The section where the gears of the joint sections () mesh and the bearing section are substantially sealed, so that a foreign matter is prevented from entering from the outside to these sections and lubricant does not leaks from these sections. The multi-joint finger unit is suitable for use in place where thick powder dust is present and in a clean room.

Finger unit for robot hand and method of assembling the same

A sealed worm gear type finger joint unit for a robot hand has a circular opening in a gear box case of the unit, and the opening is closed by a rubber bush. When the rubber bush is removed, a shaft end face of a worm shaft section is exposed from the circular opening, and this makes a tool engagement section formed on the shaft end face is accessible from the outside. A tool for turning the worm shaft section is fitted in the tool engagement section, and the worm shaft section can be easily turned by the tool. Turning the worm shaft section turns a worm, turning a worm wheel meshing with the worm, and this turns the joint shaft. As a result, a swing arm connected to shaft end sections of the joint shaft can be moved to a predetermined position. In the finger joint unit, the joint shaft can be easily manually turned.

Sealed worm gear type finger joint unit

An articulated robot capable of reducing dead space while maintaining a wide operating area and simplifying a power transmission system necessary for moving each joint. A plurality of joint arms Ato Aare connected via first rotating shaftsA, andB as horizontal rotating shafts and via second rotating shaftsA, andB as inclined rotating shafts alternately. A motor M for driving the rotating shaft and a speed-reducing mechanism are provided for each rotating shaft.

Articulated robot

Growing community of inventors

Toyota, Japan

Morihiko Ohkura