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US 10,766,148 B2Granted
Hand mechanism with three-dimensional cams
AssigneeShinano Kenshi Co., Ltd.
InventorsSadaaki Watanabe, Kimihiro Takehana, Yutaka Nagai
Life of this patent
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Abstract
A hand mechanism includes three-dimensional cams and claw portions configured to open and close in association with a rotary motion of the three-dimensional cams and achieves a compact and multifunctional configuration. A rotor shaft is a hollow shaft provided with a hollow shaft hole, is assembled in communication with a through hole formed in a cam base portion of a cam pedestal member, and is provided with a functional part in the hollow shaft hole.
Claims7
A hand mechanism with three-dimensional cams comprising:
- a motor;
- a cam pedestal member, the cam pedestal member including a cam base portion detachably assembled directly or indirectly to a rotor shaft extending from the motor, and a three-dimensional cam including a plurality of cam guiding surfaces continuing over a range from the outer edge of a through hole provided at a center of the cam base portion to an outer peripheral side and being protruded at a plurality of positions;
- and
- a hand mechanism assembled to the motor constantly in abutment with the three-dimensional cam, the hand mechanism including a plurality of claw portions openable and closable about an axial line of the rotor shaft in association with a rotary motion of the three-dimensional cam,
- wherein the rotor shaft is a hollow shaft provided with a hollow shaft hole and is assembled to bring the through hole provided in the cam base portion of the cam pedestal member into communication with the hollow shaft hole, and a functional part is provided in the hollow shaft hole.
2 more elements
Dependencies are inferred from the claim text.