ROBOT HAND - KAWASAKI HEAVY IND LTD

Title:

ROBOT HAND

Document Type and Number:

WIPO Patent Application WO/2010/064708

Kind Code:

A1

Abstract:

A robot hand is provided with a planetary gear unit (44) into which rotational power from a motor is inputted, first and second drive shafts (3, 4) to which rotational power outputted from the planetary gear unit (44) is transmitted, and a finger having first and second joints (9, 13) driven by the first and second drive shafts (3, 4), respectively. The planetary gear unit (44) is provided with a sun gear, planetary gears meshing with the outer teeth of the sun gear, a planetary arm (68) connected to the planetary gears so as to move in association with the revolution of the planetary gears, and an internally toothed gear (67) meshing with the outer teeth of the planetary gears so as to move in association with the rotation of the planetary gears. The sun gear is connected to the motor (31), the planetary arm (68) is connected to the first drive shaft (3), and the internally toothed gear (67) is connected to the second drive shaft (4). The robot hand is provided with a resistance generating means for increasing the motion resistance of the internally toothed gear (67) to a level greater than the motion resistance of the planetary arm (68).

Inventors:

KAMON MASAYUKI (JP)
TAKAYAMA YUUKI (JP)

Application Number:

PCT/JP2009/070411

Publication Date:

June 10, 2010

Filing Date:

December 04, 2009

Export Citation:

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Assignee:

KAWASAKI HEAVY IND LTD (JP)
KAMON MASAYUKI (JP)
TAKAYAMA YUUKI (JP)

International Classes:

B25J15/08

Foreign References:

JP2004041279A	2004-02-12
JP2007237341A	2007-09-20
JPS59146783A	1984-08-22
JP2003534930A	2003-11-25
JP2001029411A	2001-02-06
JP2007290044A	2007-11-08
JP3179464B2	2001-06-25
JP2002103269A	2002-04-09

Other References: