Title:
FINGER JOINT MECHANISM
Document Type and Number:
WIPO Patent Application WO/2007/072546
Kind Code:
A1
Abstract:
A finger joint mechanism (1) having two wave gear drives (20, 30) disposed coaxially
with each other, in which rotational force of a motor (40) is transmitted to a rotation
input shaft (13) common to the drive gears through a driving bevel gear (42) and
a driven bevel gear (43). Output shafts (11, 12) are formed integrally with bosses
(24, 34) of the cup-like flexible external gears (22, 32) of the wave gear drives
(20, 30), and mounting arms (9, 10) of a rotating member (3) are fixedly connected
to the output shafts. The wave gear drives, which can be easily reduced in size,
are used as the reduction gears for a rotary actuator (5) assembled in the finger
joint mechanism. Since the finger joint mechanism uses the two wave gear drives,
the rate of increase in torque capacity against the rate of increase in an installation
space is much higher than a case where one gear drive with a large model number is
used to increase torque capacity of the mechanism.
Inventors:
KOYAMA JUNJI (JP)
Application Number:
PCT/JP2005/023327
Publication Date:
June 28, 2007
Filing Date:
December 20, 2005
Export Citation:
Assignee:
HARMONIC DRIVE SYSTEMS (JP)
KOYAMA JUNJI (JP)
KOYAMA JUNJI (JP)
International Classes:
B25J17/00
Foreign References:
| JPS6362934A | 1988-03-19 | |||
| JPS63288678A | 1988-11-25 |
Attorney, Agent or Firm:
YOKOZAWA, Shiro (Shimadachi Matsumoto-shi, Nagano 52, JP)
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