Harmonic Drive Systems Inc.

Toshiaki Kamata

Hiroshi Kameda

Junji Koyama

Yoshinori Ito

Toshiyuki Abe

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 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.

Growing community of inventors

Nagano-ken, Japan

Toshiaki Kamata