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Harmonic Drive System inc.

Harmonic Drive System inc. Patent applications
Patent application number	Title	Published
20090261609	ROBOT HAND AND FINGER MECHANISM - A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.	10-22-2009
20090145254	SEALED WORM GEAR TYPE FINGER JOINT UNIT - A sealed worm gear type finger joint unit for a robot hand has a circular opening in a gear box case of the unit, and the opening is closed by a rubber bush. When the rubber bush is removed, a shaft end face of a worm shaft section is exposed from the circular opening, and this makes a tool engagement section formed on the shaft end face is accessible from the outside. A tool for turning the worm shaft section is fitted in the tool engagement section, and the worm shaft section can be easily turned by the tool. Turning the worm shaft section turns a worm, turning a worm wheel meshing with the worm, and this turns the joint shaft. As a result, a swing arm connected to shaft end sections of the joint shaft can be moved to a predetermined position. In the finger joint unit, the joint shaft can be easily manually turned.	06-11-2009