FINGER UNIT FOR ROBOT HAND AND METHOD OF ASSEMBLING THE SAME

Title:

FINGER UNIT FOR ROBOT HAND AND METHOD OF ASSEMBLING THE SAME

Document Type and Number:

WIPO Patent Application WO/2007/077697

Kind Code:

A1

Abstract:

A multi-joint finger unit (1) has first and second joint sections (3, 5) constructed by using bevel gears. In each joint section (3, 5), the section where a driving bevel gear (10, 44) and a driven bevel gear (14, 56) mesh with each other and also a bearing section of a joint shaft (15, 57) are assembled in a tubular housing (13, 51) whose forward end is closed. Rear end openings (13A, 52) of the tubular housings (13, 51) are closed by a tubular housing (7) at a finger root and a tubular housing (41) at a finger body section. The section where the gears of the joint sections (3, 5) 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.

Inventors:

HORIUCHI MASASHI (JP)
HIRABAYASHI TOSHIHIRO (JP)
OHTA HIROKAZU (JP)
OHKURA MORIHIKO (JP)

Application Number:

PCT/JP2006/323893

Publication Date:

July 12, 2007

Filing Date:

November 30, 2006

Export Citation:

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Assignee:

HARMONIC DRIVE SYSTEMS (JP)
TOYOTA MOTOR CO LTD (JP)
HORIUCHI MASASHI (JP)
HIRABAYASHI TOSHIHIRO (JP)
OHTA HIROKAZU (JP)
OHKURA MORIHIKO (JP)

International Classes:

B25J17/00; F16H19/08

Foreign References:

JP2001124155A	2001-05-08
JPS5224659A	1977-02-24
JP2004122339A	2004-04-22
JPH11201242A	1999-07-27
JPS61182789A	1986-08-15
JP2000035106A	2000-02-02
JPH0224151U	1990-02-16
US20040103740A1	2004-06-03

Other References: