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US 6,860,169 B2Granted
Manipulation unit
AssigneeSeiko Epson Corporation
InventorJunichiro Shinozaki
Life of this patent
Estimating the term…
Abstract
3-degrees-of-freedom universal joints UJ1 and UJ2 for allowing the hand H1 to make up-down swing motions D1 and side-to-side swing motions D2 are joined to the top right and left parts, respectively, of the wrist portion of the hand H1, and a 2-degrees-of-freedom universal joint UJ3 for allowing the hand H1 to make twisting rotations D3 is joined to the wrist portion of the hand H1 so as to serve as the center of 3-degrees-of-freedom.
Claims1
A manipulation unit comprising:
- first and second universal joints that allow up-down and side-to-side swing motions to be made in response to linear motions,
- a third universal joint that serves as the center of 2-degrees-of-freedom and enables twisting rotations,
- a rotation means that rotates the first and second universal joints around a fixed shaft,
- a first linear actuator which moves the first universal joint in linear motion,
- a second linear actuator which moves the second universal joint in linear motion,
- fastening blocks which hold the first, second and third universal joints and the first and second linear actuators securely,
- a support block which supports the fastening blocks,
- bearing units which support the supports block such that it is able to rotate around said fixed shaft,
- a rotation motor which is installed in the support block, and
- gearwheels which transmit a rotational force of the rotation motor to the fixed shaft,
- wherein the fastening blocks are fastened to the support block such that the third universal joint is located on a line of the fixed shaft's axis.
8 more elements
Dependencies are inferred from the claim text.