# US 10,766,148 B2 · Hand mechanism with three-dimensional cams > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,148 B2 - Document ID: US10766148B2 - Status: Granted - Kind: B2 - Application number: 16/193,579 - Filed: 2018-11-16 - Published: 2019-05-16 - Granted: 2020-09-08 - Earliest claimed: 2017-11-16 - Assignees: Shinano Kenshi Co., Ltd. - Applicants: Shinano Kenshi Kabushiki Kaisha - Inventors: Sadaaki Watanabe; Kimihiro Takehana; Yutaka Nagai - Web page: https://patentgrep.com/patent/US10766148B2 ## CPC - B25J 15/0226: {actuated by cams} - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - F16H 25/18: for conveying or interconverting oscillating or reciprocating motions - F16H 53/06: Cam-followers (F16H53/08 takes precedence) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - F16H: GEARING ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The hand mechanism with three-dimensional cams according to claim 1, wherein the functional part is an imaging device inserted into the hollow shaft hole. ### Claim 3 (depends on 1) The hand mechanism with three-dimensional cams according to claim 1, wherein the functional part is a storage space for storing a gripping object gripped by the claw portions into the hollow shaft hole. ### Claim 4 (depends on 1) The hand mechanism with three-dimensional cams according to claim 1, wherein the functional part is an air suction and injection device configured to suck air or inject air, and the air suction and injection device is inserted into the hollow shaft hole. ### Claim 5 (depends on 1) The hand mechanism with three-dimensional cams according to claim 1, wherein the functional part is a measuring device inserted into the hollow shaft hole. ### Claim 6 (depends on 1) The hand mechanism with three-dimensional cams according to claim 1, wherein the functional part is an information reading device inserted into the hollow shaft hole. ### Claim 7 (depends on 1) The hand mechanism with three-dimensional cams according to claim 1, wherein the hand mechanism includes: a hand base portion assembled to the motor; and claw supporting portions configured to rotatably support the claw portions about an axis orthogonally disposed with respect to a direction of the axial line of the rotor shaft, and the claw portions slide in a state in which a plurality of cam follower surfaces provided at root end portions are in constantly abutment with the plurality of corresponding cam guiding surfaces.