US 7,454,995 B2
Joint mechanism for robot hand and the like
Junji Koyama, Nagano-ken (Japan); Hiroshi Kameda, Nagano-ken (Japan); and Toshiaki Kamata, Nagano-ken (Japan)
Assigned to Harmonic Drive Systems Inc., Tokyo (Japan)
Filed on Jun. 23, 2005, as Appl. No. 11/160,440.
Claims priority of application No. 2004-209450 (JP), filed on Jul. 16, 2004.
Prior Publication US 2006/0011009 A1, Jan. 19, 2006
Int. Cl. B25J 17/00 (2006.01); B25J 18/00 (2006.01)
U.S. Cl. 74—490.05  [901/23; 901/25; 901/28; 74/490.03] 2 Claims
OG exemplary drawing
 
1. A joint mechanism for a robot hand, comprising:
a joint axle;
a supporting member for rotatably supporting the joint axle around a centerline thereof;
a revolving member connected to the joint axle and allowed to revolve around the centerline along with the rotation of the joint axle;
a first actuator mounted on the supporting member;
a second actuator mounted on the revolving member;
a driven bevel gear fixedly mounted in coaxial manner on the joint axle;
a first drive bevel gear that is coaxially connected to a rotational output axle of the first actuator and that meshes with the driven bevel gear; and
a second drive bevel gear that is coaxially connected to a rotational output axle of the second actuator and that meshes with the driven bevel gear.