公开(公告)号：US20090261609A1

公开(公告)日：2009-10-22

申请号：US12416254

申请日：2009-04-01

Applicant: Yusuke Shibamoto ,  Masaru Kobayashi

Inventor： Yusuke Shibamoto ,  Masaru Kobayashi

IPC: B25J15/08 ,  B25J15/00

CPC classification number: B25J15/022

Abstract: 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.

Abstract translation: 机器人手将线性致动器的致动杆的纵向延伸和缩回运动转换成通过连杆机构打开和关闭左和右第一连杆的运动。 连杆机构包括由螺旋弹簧构成的左右中间连杆。 当左右第一连杆与要夹持的物体接触时，中间连杆弹性变形膨胀，并且夹持物体的力由于中间连杆的弹性变形而逐渐增加。 可以防止大的夹紧力突然发生在物体上，并防止物体变形，损坏或遭受有害影响。

公开(公告)号：US09746065B2

公开(公告)日：2017-08-29

申请号：US14767220

申请日：2013-11-29

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Shoichi Ishikawa

IPC: F16H49/00

CPC classification number: F16H49/001 ,  F16H2049/003

Abstract: The addendum tooth profile of the inner teeth and outer teeth of a strain wave gearing is stipulated by a first and second similar curve obtained from the curve segment from an inflection point to a low point in a movement trajectory when the meshing of both teeth is approximated by rack meshing. The addendum tooth profile of the inner teeth is stipulated by a curve generated at the inner teeth in the process of the addendum profile of the outer teeth moving from the inflection point to the apex of the movement trajectory. The addendum tooth profile of the outer teeth is stipulated by a curve generated at the outer teeth when the addendum profile of the inner teeth moves from the inflection point to the apex. The addendum profile of the outer teeth makes double contact with the addendum profile and dedendum profile of the inner teeth.

公开(公告)号：US07955005B2

公开(公告)日：2011-06-07

申请号：US11734128

申请日：2007-04-11

Applicant: Manabu Kino ,  Yoshihide Kiyosawa

Inventor： Manabu Kino ,  Yoshihide Kiyosawa

IPC: G03B1/00

CPC classification number: F16D3/04 ,  B65H18/10 ,  B65H2403/40 ,  B65H2403/70

Abstract: In a roll rotation mechanism (1) for continuously causing a film-rolling roll to rotate at a constant rate, an Oldham coupling (4) is interposed in a transmission path between a wave gear reduction mechanism (3) and a roll (10). The Oldham coupling (4) forms a connection between a gear rotation output shaft (34) and a roll rotation shaft (11) in a state in which latitude of movement α is present about a central axis line (4a). When a roll (10) is continuously rotated at a constant rate, the Oldham coupling (4) is held in a state in which no latitude of movement is present in a rotation direction R and latitude of movement α is present in a direction opposite the rotation direction; and rotation torque is transmitted. Due to the presence of the latitude of movement α, a vibration transmission path is blocked in the Oldham coupling (4), vibrations are not transmitted from the wave gear reduction mechanism (3) to a roll (19), a vibration system does not resonate, and no incidence of large rotational fluctuation occurs in the roller.

Abstract translation: 在连续使成膜辊以恒定速度旋转的辊旋转机构（1）中，在波齿轮减速机构（3）和辊（10）之间的传递路径中插入有十字联轴器（4） 。 在围绕中心轴线（4a）存在运动范围α的状态下，十字联轴器（4）形成齿轮旋转输出轴（34）和滚动轴旋转轴（11）之间的连接。 当辊（10）以恒定的速度连续旋转时，十字联轴器（4）保持在旋转方向R上不存在运动纬度的状态，并且运动的纬度α存在于与 旋转方向 并发送旋转扭矩。 由于存在运动自由度α，在十字联轴器（4）中阻挡振动传递路径，振动不会从波轮齿轮减速机构（3）传递到辊（19），振动系统不会 谐振，并且在辊中没有大的旋转波动的发生。

公开(公告)号：US11732791B2

公开(公告)日：2023-08-22

申请号：US17289066

申请日：2020-01-08

Applicant: HARMONIC DRIVE SYSTEMS INC.

Inventor： Norio Shirokoshi

IPC: F16H49/00 ,  F16H55/08

CPC classification number: F16H49/001 ,  F16H55/0833 ,  F16H2049/003

Abstract: An externally toothed gear of a cup-type strain wave gearing has external teeth, the tooth profile of which gradually changes in the tooth-trace direction. The external teeth are formed with an external teeth portion capable of meshing with internal teeth of an internally toothed gear, a first external teeth extension portion and a second external teeth extension portion, in which the first and second external teeth extension portions do not mesh with the internal teeth. The second external teeth extension portion has a narrowing tapered tooth profile so that the second external teeth extension portion serves as a guide when the external teeth is inserted into the internal teeth. The work of assembling the externally toothed gear in the internally toothed gear is made easier.

公开(公告)号：US20090145254A1

公开(公告)日：2009-06-11

申请号：US12089693

申请日：2006-11-30

Applicant: Toshihiro Hirabayashi ,  Masashi Horiuchi ,  Hirokazu Ohta ,  Morihiko Ohkura

Inventor： Toshihiro Hirabayashi ,  Masashi Horiuchi ,  Hirokazu Ohta ,  Morihiko Ohkura

IPC: F16H1/16

CPC classification number: F16H1/16 ,  B25J9/103 ,  B25J15/0009 ,  B25J17/0241 ,  B25J19/0075 ,  F16H57/029 ,  F16H57/031 ,  F16H57/039 ,  F16H2057/02008 ,  F16H2057/0235 ,  Y10T74/19828

Abstract: 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.

Abstract translation: 用于机器人手的密封蜗轮型手指接头单元在该单元的齿轮箱壳体中具有圆形开口，并且开口由橡胶衬套封闭。 当拆除橡胶衬套时，蜗杆轴部的轴端面从圆形开口露出，这样使得形成在轴端面上的工具接合部从外部可以接近。 用于转动蜗杆轴部分的工具安装在工具接合部分中，并且蜗杆轴部分可以通过工具容易地转动。 转动蜗杆轴转动蜗杆，转动与蜗杆啮合的蜗轮，这样可以使接头轴转动。 结果，连接到关节轴的轴端部的摆臂可以移动到预定位置。 在手指关节单元中，关节轴可以容易地手动转动。