# US 12,109,698 B2 · Power transmission device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,109,698 B2 - Document ID: US12109698B2 - Status: Granted - Kind: B2 - Application number: 17/979,861 - Filed: 2022-11-03 - Published: 2023-08-24 - Granted: 2024-10-08 - Earliest claimed: 2022-02-18 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Beom Su Kim; Sang In Park; Ju Young Yoon; Dong Jin Hyun; Hyo Seung Han - Web page: https://patentgrep.com/patent/US12109698B2 ## CPC - B25J 9/104: {with cables, chains or ribbons} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - F16H 19/005: {for conveying oscillating or limited rotary motion} - 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 An embodiment power transmission device includes an input shaft rotatable about a first rotation axis, first and second wires wound around an outer surface of the input shaft based on a first radial direction, each having a first side fixed to the input shaft, an output shaft rotatable about a second rotation axis, the output shaft including a shaft body, wherein the first and second wires surround an outer surface of the shaft body based on a second radial direction, and first and second wire holders to which a second side of the first wire and a second side of the second wire are respectively fixed. The first wire extends in a first circumferential direction of the shaft body, and then the first wire extends in a second circumferential direction opposite to the first circumferential direction of the shaft body. ## Claims ### Claim 1 A power transmission device comprising: an input shaft configured to be rotatable about a first rotation axis; first wire and second wire configured to be wound around an outer surface of the input shaft based on a first radial direction, each of the first and second wires having one side fixed to the input shaft, the first wire and the second wire being separate; an output shaft configured to be rotatable about a second rotation axis, the output shaft comprising a shaft body and configured such that the first and second wires surround an outer surface of the shaft body based on a second radial direction; a first wire holder, wherein an opposite side of the first wire is fixed to the first wire holder, wherein the first wire extends from the one side of the first wire to the opposite side of the first wire so that i) the first wire extends in a first circumferential direction of the shaft body and then ii) the first wire extends in a second circumferential direction opposite to the first circumferential direction of the shaft body; and a second wire holder, wherein an opposite side of the second wire is fixed to the second wire holder, wherein the second wire extends from the one side of the second wire to the opposite side of the second wire so that i) the second wire extends in the second circumferential direction of the shaft body and then ii) the second wire extends in the first circumferential direction of the shaft body, a first protrusion region provided on the outer surface of the shaft body based on the second radial direction and protruding in the second radial direction of the shaft body, wherein i) the first wire extends in the first circumferential direction of the shaft body, ii) the first wire is bent while surrounding the first protrusion region, and then iii) the first wire extends in the second circumferential direction of the shaft body; a second protrusion region provided on the outer surface of the shaft body based on the second radial direction and protruding in the second radial direction of the shaft body, wherein i) the second wire extends in the second circumferential direction of the shaft body, ii) the second wire is bent while surrounding the second protrusion region, and then iii) the second wire extends in the first circumferential direction of the shaft body; a base member provided at one side of the output shaft and configured such that the output shaft is rotatably coupled to the base member; and a third protrusion region disposed at one side of the base member, wherein i) the first wire extends from the input shaft toward the third protrusion region, ii) the first wire is bent while surrounding the third protrusion region, and then iii) the first wire extends in the first circumferential direction of the shaft body. ### Claim 2 (depends on 1) The power transmission device of claim 1, further comprising an idler member provided to face the base member with the output shaft interposed therebetween, the idler member being coupled to the output shaft and configured to be rotatable relative to the output shaft, wherein the first wire extends from the one side of the first wire to the opposite side of the first wire so that i) the first wire extends in the first circumferential direction in a state of being in close contact with an outer surface of the idler member based on the second radial direction, ii) the first wire is bent while surrounding the first protrusion region, and then iii) the first wire extends in the second circumferential direction in a state of being in close contact with the outer surface of the shaft body based on the second radial direction. ### Claim 3 (depends on 2) The power transmission device of claim 2, further comprising a first bearing coupled to the output shaft and the idler member, wherein the first bearing comprises: a first inner race coupled to the shaft body; a first outer race coupled to the idler member; and a first rolling element provided between the first inner race and the first outer race. ### Claim 4 (depends on 3) The power transmission device of claim 3, further comprising a second bearing coupled to the output shaft and the base member, wherein the second bearing comprises: a second inner race coupled to the shaft body; a second outer race coupled to the base member; and a second rolling element provided between the second inner race and the second outer race. ### Claim 5 (depends on 1) The power transmission device of claim 1, wherein a center of the first protrusion region and a center of the second protrusion region are spaced apart from each other in a width direction of the output shaft. ### Claim 6 (depends on 5) The power transmission device of claim 5, wherein the center of the first protrusion region is further spaced apart outward from the base member than the center of the second protrusion region. ### Claim 7 (depends on 1) The power transmission device of claim 1, wherein a region of the first wire, which surrounds the third protrusion region, becomes distant from the base member as the region of the first wire becomes closer to the shaft body. ### Claim 8 (depends on 1) The power transmission device of claim 1, wherein a fixing hole is formed in the outer surface of the input shaft based on the first radial direction and the one side of the first wire is fixedly inserted into the fixing hole; and wherein at a point at which the first wire begins to be inserted into the fixing hole, an angle defined between a tangential direction of the first wire and a direction in which the fixing hole extends is larger than 90 degrees. ### Claim 9 (depends on 1) The power transmission device of claim 1, wherein the shaft body comprises: a body region having an outer peripheral recessed region formed in a shape recessed inward from an outer peripheral surface of the body region; and a block region inserted into the outer peripheral recessed region and having the first and second protrusion regions formed on the outer surface of the shaft body based on the second radial direction. ### Claim 10 (depends on 9) The power transmission device of claim 9, wherein the output shaft further comprises pressure sensor members provided in regions in which the block region and the body region face each other in the first and second circumferential directions. ### Claim 11 (depends on 10) The power transmission device of claim 10, wherein i) a direction perpendicular to a surface of the block region which is in close contact with a pressure sensor member is parallel to ii) a direction in which the first wire extends from the first protrusion region and a direction in which the second wire extends from the second protrusion region. ### Claim 12 A power transmission device comprising: an input shaft configured to be rotatable about a first rotation axis; first wire and second wire configured to be wound around an outer surface of the input shaft based on a first radial direction, each of the first and second wires having one side fixed to the input shaft; an output shaft configured to be rotatable about a second rotation axis, the output shaft comprising a shaft body and configured such that the first and second wires surround an outer surface of the shaft body based on a second radial direction; a first wire holder, wherein an opposite side of the first wire is fixed to the first wire holder, wherein the first wire extends from the one side of the first wire to the opposite side of the first wire so that i) the first wire extends in a first circumferential direction of the shaft body and then ii) the first wire extends in a second circumferential direction opposite to the first circumferential direction of the shaft body; and a second wire holder, wherein an opposite side of the second wire is fixed to the second wire holder, wherein the second wire extends from the one side of the second wire to the opposite side of the second wire so that i) the second wire extends in the second circumferential direction of the shaft body and then ii) the second wire extends in the first circumferential direction of the shaft body, a first protrusion region provided on the outer surface of the shaft body based on the second radial direction and protruding in the second radial direction of the shaft body, wherein i) the first wire extends in the first circumferential direction of the shaft body, ii) the first wire is bent while surrounding the first protrusion region, and then iii) the first wire extends in the second circumferential direction of the shaft body; a second protrusion region provided on the outer surface of the shaft body based on the second radial direction and protruding in the second radial direction of the shaft body, wherein i) the second wire extends in the second circumferential direction of the shaft body, ii) the second wire is bent while surrounding the second protrusion region, and then iii) the second wire extends in the first circumferential direction of the shaft body; a base member provided at one side of the output shaft and configured such that the output shaft is rotatably coupled to the base member; and a third protrusion region disposed at one side of the base member, wherein i) the first wire extends from the input shaft toward the third protrusion region, ii) the first wire is bent while surrounding the third protrusion region, and then iii) the first wire extends in the first circumferential direction of the shaft body; wherein the input shaft comprises: a first sliding member disposed on the outer surface of the input shaft based on the first radial direction and having a first screw thread region having a recessed shape and configured to accommodate the first wire; and an insertion member inserted into an internal space of the first sliding member in a direction parallel to the first rotation axis, wherein the first sliding member is movable relative to the insertion member in the direction parallel to the first rotation axis. ### Claim 13 (depends on 12) The power transmission device of claim 12, wherein the input shaft further comprises a roller member fixed to an outer peripheral surface of the insertion member and configured to be rotatable so that the first sliding member slides relative to the insertion member. ### Claim 14 (depends on 13) The power transmission device of claim 13, wherein the input shaft further comprises a second sliding member disposed on the outer surface of the input shaft based on the first radial direction and having a second screw thread region having a recessed shape and configured to accommodate the second wire, and wherein the second sliding member is movable relative to the insertion member in the direction parallel to the first rotation axis. ### Claim 15 (depends on 14) The power transmission device of claim 14, wherein the roller member is provided in plural, wherein the plurality of roller members is disposed in the direction parallel to the first rotation axis, wherein some of the roller members of the plurality of roller members face the first sliding member, and wherein remaining roller members of the plurality of roller members face the second sliding member. ### Claim 16 (depends on 15) The power transmission device of claim 15, wherein inner peripheral recessed regions are formed in inner peripheral surfaces of the first and second sliding members, each inner peripheral recessed region having a recessed shape corresponding to the roller members, wherein the roller members are inserted into the inner peripheral recessed regions. ### Claim 17 A power transmission device comprising: an input shaft configured to be rotatable about a first rotation axis; first wire and second wire configured to be wound around an outer surface of the input shaft based on a first radial direction, each of the first and second wires having one side fixed to the input shaft; an output shaft configured to be rotatable about a second rotation axis, the output shaft comprising a shaft body and configured such that the first and second wires surround an outer surface of the shaft body based on a second radial direction; a first wire holder, wherein an opposite side of the first wire is fixed to the first wire holder, wherein the first wire extends from the one side of the first wire to the opposite side of the first wire so that i) the first wire extends in a first circumferential direction of the shaft body and then ii) the first wire extends in a second circumferential direction opposite to the first circumferential direction of the shaft body; and a second wire holder, wherein an opposite side of the second wire is fixed to the second wire holder, wherein the second wire extends from the one side of the second wire to the opposite side of the second wire so that i) the second wire extends in the second circumferential direction of the shaft body and then ii) the second wire extends in the first circumferential direction of the shaft body, a first protrusion region provided on the outer surface of the shaft body based on the second radial direction and protruding in the second radial direction of the shaft body, wherein i) the first wire extends in the first circumferential direction of the shaft body, ii) the first wire is bent while surrounding the first protrusion region, and then iii) the first wire extends in the second circumferential direction of the shaft body; a second protrusion region provided on the outer surface of the shaft body based on the second radial direction and protruding in the second radial direction of the shaft body, wherein i) the second wire extends in the second circumferential direction of the shaft body, ii) the second wire is bent while surrounding the second protrusion region, and then iii) the second wire extends in the first circumferential direction of the shaft body; a base member provided at one side of the output shaft and configured such that the output shaft is rotatably coupled to the base member; accommodation spaces formed in the base member to accommodate the first and second wire holders, wherein the first and second wire holders are respectively inserted into the accommodation spaces, and wherein the first and second wire holders are movable in the accommodation spaces; and a third protrusion region disposed at one side of the base member, wherein i) the first wire extends from the input shaft toward the third protrusion region, ii) the first wire is bent while surrounding the third protrusion region, and then iii) the first wire extends in the first circumferential direction of the shaft body. ### Claim 18 (depends on 17) The power transmission device of claim 17, wherein internal thread regions are respectively formed in the first and second wire holders, and wherein external thread members are inserted into and coupled to the internal thread regions. ### Claim 19 (depends on 18) The power transmission device of claim 18, wherein, in regions in which the first and second wire holders are inserted into the accommodation spaces, a cross-section of each of the accommodation spaces based on a direction perpendicular to a longitudinal direction of the external thread members has a polygonal shape, and wherein a cross-section of each of the first and second wire holders based on the direction perpendicular to the longitudinal direction of the external thread members has a polygonal shape. ### Claim 20 (depends on 19) The power transmission device of claim 19, wherein the polygonal shape is a quadrangular shape.