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1. 发明申请

US20050040664A1 Finger unit for robot hand 有权
标题翻译：手指单位用于机器人手
公开(公告)号：US20050040664A1
公开(公告)日：2005-02-24
申请号：US10677361
申请日：2003-10-03
申请人： Hiroshi Kameda , Kiyoto Kobayashi , Junji Koyama , Teizo Morimoto , Masakatsu Sasahara
发明人： Hiroshi Kameda , Kiyoto Kobayashi , Junji Koyama , Teizo Morimoto , Masakatsu Sasahara
IPC分类号： B25J15/08 , B25J9/10 , B25J15/00
CPC分类号： B25J9/102 , B25J15/0009
摘要： An articulated finger unit has a two-jointed structure comprising a joint portion on a finger base side, a finger base portion, a joint portion on a fingertip side, and a fingertip portion; the joint portion on the finger base side has a drive-side bevel gear fixed to a rotational output shaft of an actuator, a driven-side bevel gear coaxially fixed to a joint portion that is perpendicular to the rotational output shaft, and a connecting member wherein an annular boss is fixed to the driven-side bevel gear and wherein a tip portion extends in a fork shape; and a cover on the finger base side is connected to the connecting member. A rotation of the rotational output shaft is converted to rotational movement of the joint shaft by way of a pair of bevel gears, and the connecting member fixed to the joint shaft turns right and left at an angle of 900 or more about the joint shaft. The finger unit suitable for use in a robot hand that moves at high speed and with precision can be realized.
摘要翻译：铰接指状单元具有包括手指基部侧的接合部，手指基部，指尖侧的接合部以及指尖部的两接合结构。指状基部侧的接合部具有固定在致动器的旋转输出轴上的驱动侧锥齿轮，同轴地固定于与旋转输出轴垂直的接合部的从动侧锥齿轮，以及连接部件其中环形凸台固定到所述从动侧锥齿轮，并且其中尖端部分以叉形状延伸; 并且指状基部侧的盖连接到连接构件。旋转输出轴的旋转通过一对锥齿轮转换为关节轴的旋转运动，固定在关节轴上的连接构件绕关节轴以约900°以上的角度左右转动。可以实现适合于以高速和精确地移动的机器人手中的手指单元。

2. 发明授权

US07077446B2 Finger unit for robot hand 有权
标题翻译：手指单位用于机器人手
公开(公告)号：US07077446B2
公开(公告)日：2006-07-18
申请号：US10677361
申请日：2003-10-03
申请人： Hiroshi Kameda , Kiyoto Kobayashi , Junji Koyama , Teizo Morimoto , Masakatsu Sasahara
发明人： Hiroshi Kameda , Kiyoto Kobayashi , Junji Koyama , Teizo Morimoto , Masakatsu Sasahara
IPC分类号： B25J15/10
CPC分类号： B25J9/102 , B25J15/0009
摘要： An articulated finger unit has a two-jointed structure comprising a joint portion on a finger base side, a finger base portion, a joint portion on a fingertip side, and a fingertip portion; the joint portion on the finger base side has a drive-side bevel gear fixed to a rotational output shaft of an actuator, a driven-side bevel gear coaxially fixed to a joint portion that is perpendicular to the rotational output shaft, and a connecting member wherein an annular boss is fixed to the driven-side bevel gear and wherein a tip portion extends in a fork shape; and a cover on the finger base side is connected to the connecting member. A rotation of the rotational output shaft is converted to rotational movement of the joint shaft by way of a pair of bevel gears, and the connecting member fixed to the joint shaft turns right and left at an angle of 90° or more about the joint shaft. The finger unit suitable for use in a robot hand that moves at high speed and with precision can be realized.
摘要翻译：铰接指状单元具有包括手指基部侧的接合部，手指基部，指尖侧的接合部以及指尖部的两接合结构。指状基部侧的接合部具有固定在致动器的旋转输出轴上的驱动侧锥齿轮，同轴地固定于与旋转输出轴垂直的接合部的从动侧锥齿轮，以及连接部件其中环形凸台固定到所述从动侧锥齿轮，并且其中尖端部分以叉形状延伸; 并且指状基部侧的盖连接到连接构件。旋转输出轴的旋转通过一对锥齿轮转换为关节轴的旋转运动，固定在关节轴上的连接构件绕关节轴以90°或更大的角度左右转动。可以实现适合于以高速和精确地移动的机器人手中的手指单元。

3. 发明申请

US20050040663A1 Palm mechanism for robot hand 有权
标题翻译：机器人手掌机构
公开(公告)号：US20050040663A1
公开(公告)日：2005-02-24
申请号：US10677354
申请日：2003-10-03
申请人： Hiroshi Kameda , Junji Koyama , Teizo Morimoto , Masakatsu Sasahara
发明人： Hiroshi Kameda , Junji Koyama , Teizo Morimoto , Masakatsu Sasahara
IPC分类号： B25J15/08 , B25J15/00
CPC分类号： B25J15/0009
摘要： A palm mechanism for a high-speed robot hand has a fixed-side articulated finger unit that projects forward from an upper side of a vertically positioned palm plate, and moveable-side articulated finger units disposed on both sides thereof. The left and right articulated finger units are capable of turning along two short sides of the rectangular palm plate from upper end positions on the palm mechanism. The articulated finger units are capable of bending up and down about joint portions thereof. A variety of operations, including gripping, picking, and throwing, can be performed rapidly and reliably by controlling relative positions of the three articulated finger units and controlling bending operations of the articulated finger units.
摘要翻译：用于高速机器人手的手掌机构具有从垂直定位的手掌板的上侧向前突出的固定侧铰接指状单元，以及设置在其两侧的可动侧铰接指状单元。左右铰接手指单元能够从手掌机构上的上端位置沿矩形掌板的两个短边转动。铰接指状单元能够在其关节部分上下弯曲。通过控制三个关节指状单元的相对位置并控制铰接的手指单元的弯曲操作，可以快速可靠地执行各种操作，包括抓取，拾取和投掷。

4. 发明授权

US07059645B2 Palm mechanism for robot hand 有权
标题翻译：机器人手掌机构
公开(公告)号：US07059645B2
公开(公告)日：2006-06-13
申请号：US10677354
申请日：2003-10-03
申请人： Hiroshi Kameda , Junji Koyama , Teizo Morimoto , Masakatsu Sasahara
发明人： Hiroshi Kameda , Junji Koyama , Teizo Morimoto , Masakatsu Sasahara
IPC分类号： B25J15/10
CPC分类号： B25J15/0009
摘要： A palm mechanism for a high-speed robot hand has a fixed-side articulated finger unit that projects forward from an upper side of a vertically positioned palm plate, and moveable-side articulated finger units disposed on both sides thereof. The left and right articulated finger units are capable of turning along two short sides of the rectangular palm plate from upper end positions on the palm mechanism. The articulated finger units are capable of bending up and down about joint portions thereof. A variety of operations, including gripping, picking, and throwing, can be performed rapidly and reliably by controlling relative positions of the three articulated finger units and controlling bending operations of the articulated finger units.
摘要翻译：用于高速机器人手的手掌机构具有从垂直定位的手掌板的上侧向前突出的固定侧铰接指状单元，以及设置在其两侧的可动侧铰接指状单元。左右铰接手指单元能够从手掌机构上的上端位置沿矩形掌板的两个短边转动。铰接指状单元能够在其关节部分上下弯曲。通过控制三个关节指状单元的相对位置并控制铰接的手指单元的弯曲操作，可以快速可靠地执行各种操作，包括抓取，拾取和投掷。

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