Patent ID: 7966907
Filing Date: 2011-06-28
Classification: B25J,F16H,Y10T

Abstract:
1. A finger joint mechanism comprising: a housing; a rotating member; first and second wave gear reduction drives that are incorporated into the housing in order to rotate the rotating member about a preset joint axial line; and a motor that is mounted in the housing, wherein input rotation shafts of the first and second wave gear reduction drives are coaxially connected and center axial lines thereof match the joint axial line; the motor is disposed in a state in which an output rotation shaft thereof is perpendicular to the input rotation shafts; a driving bevel gear is mounted coaxially with the output rotation shaft of the motor; a driven bevel gear that meshes with the driving bevel gear is mounted coaxially with the input rotation shafts; cup-shaped flexible external gears of the first and second wave gear reduction drives are rotatably supported by the housing via bearings, respectively; annular rigid internal gears of the first and second wave gear reduction drives are fixed to the housing; the input rotation shaft of each of the first and second wave gear reduction drives is rotatably supported via a bearing on a portion of a boss that is formed on a center portion of a cup-shaped bottom surface of each of the cup-shaped flexible external gears; the flexible external gears are flexed in a radial direction thereof by wave generators mounted coaxially with the input rotation shafts, and are made to partially mesh with the rigid internal gears; first and second output shafts are formed on the bosses of the flexible external gears, first and second mounting arms extended from the rotating member being fixedly connected to the first and second output shafts, respectively; the driven bevel gear mounted coaxially with the input rotation shafts being located between the first and second mounting arms; and a meshing position of each of the flexible external gears and each of the rigid internal gears moves in a circumferential direction, each of the flexible external gears rotates at a reduced speed at a gear ratio produced by a difference in the number of teeth of the two gears, and the rotating member that is fixedly connected to the first and second output shafts rotates when each of the wave generators is rotated by the motor, and wherein the first and second wave gear reduction drives being arranged in a state in which the cup-shaped flexible external gears face in the same direction, or are arranged in a state in which open sides of the cup-shaped flexible external gears face each other.