Finger unit and multi-finger grasping mechanism
Granted: March 22, 2007
Application Number:
20070063523
A multi-finger grasping mechanism (300), comprising three two-joint finger units (1-1 to 1-3). Each two-joint finger unit further comprises a finger root part (2), a finger root side joint part (5), a finger intermediate part (3), a finger tip side joint part (6), and a finger tip part (4). The finger intermediate part (3) can be swung about the joint axis (5a) of the finger root side joint part (5), and the finger tip part (4) can be swung about the joint axis (6a) of the finger tip…
Wave gear drive having widely engaging tooth profile
Granted: February 1, 2007
Application Number:
20070022838
A wave gear drive, wherein a rigid internal gear is formed in a spur gear with a module m and a flexible external gear is formed in a conical gear having an opening side front end with a module m. The number of the teeth of the external gear is reduced by the quantity of 2n (n is a positive integer) less than that of the internal gear, and the amount of the deflection of the major axis of the elliptic rim neutral line of the external gear is set to 2 ?mn (?>1) at the opening side…
Method and apparatus for CWDM optical transmitter with extended operating temperature range
Granted: September 14, 2006
Application Number:
20060203862
An optical transmitter for coarse wavelength division multiplexed (CWDM) optical communication systems uses a conventional laser (e.g. laser diode) and in addition a heater element is provided thermally coupled to the laser. A thermal sensor and associated control circuit drive the heater so as to control the power consumed by the heater to assure that the laser's temperature is not lower than a predetermined minimum working temperature. When the sensed laser temperature is above this…
Geared motor
Granted: August 31, 2006
Application Number:
20060192517
A motor encoder is mounted on a motor shaft of a geared motor 1, and the origin position is detected by using a Z-phase signal. An absolute value encoder with a precision that allows the number of motor rotations to be determined is mounted on an output shaft 4 of a reduction gear, and the absolute rotational position thereof is detected. When the first Z-phase signal generated in conjunction with the rotation of the motor shaft 2a is obtained at startup and at other times, the…
Composite planetary device
Granted: July 27, 2006
Application Number:
20060166781
A composite planetary speed reduction device (1), wherein gears (11), (12), and (13) and rollers (21), (22), and (23) forming a planetary gear speed reduction mechanism (10) and a planetary roller speed reduction mechanism (20) are integrally rotated around a common rotating center axis, respectively. The radius of the sun roller (21) is larger by ?r1 than the radius r1 of the working pitch circle of the sun gear (11), the radius r21 of the working pitch circle of the planetary gear (12)…
Wave Gear Device
Granted: February 23, 2006
Application Number:
20060037430
A diaphragm of a cup-shaped flexible external gear of a cup-shaped wave gear device having a high reduction ratio of 100 or higher is given a thickness t in a position of a radius r of the diaphragm whereby the thickness t is a value that satisfies the expression A/r2 when A is a constant. The constant A is preferably a value that satisfies the expression 0.0014D3<A<0.0026D3, where D is a pitch diameter of the flexible external gear, and the range of the radius r whereby the…
Joint mechanism for robot hand and the like
Granted: January 19, 2006
Application Number:
20060011009
A joint mechanism that can be used in an articulated finger unit of a robot hand has first and second actuators that are disposed facing each other from the front and back on either side of a perpendicular joint axle, and first and second drive bevel gears that are coaxially connected and fixed to distal ends of output axles thereof. A driven bevel gear fixedly mounted in coaxial manner on the perpendicular joint axle meshes with the first and second drive bevel gears. The perpendicular…
Joint Mechanism For Robot Hand And The Like
Granted: January 19, 2006
Application Number:
20060011010
A joint mechanism that can be used in an articulated finger unit of a robot hand has two actuators that are disposed in parallel with a vertical direction on a rear side of a perpendicular joint axle, and first and second drive bevel gears are coaxially connected and fixed to distal ends of output axles thereof. First and second driven bevel gears are fixedly mounted in coaxial manner on the perpendicular joint axle, and they mesh with the first and second drive bevel gears. The…
Method for manufacturing rigid internal gear of wave gear device
Granted: January 5, 2006
Application Number:
20060000093
The present invention provides a method for manufacturing a rigid internal gear for a wave gear device comprising an internally toothed portion and a gear main body portion comprised of different materials. In this method, a gear main body ring for forming a gear main body portion is preformed using a first aluminum alloy powder; an internal teeth-forming ring is preformed using a second aluminum alloy powder that has lower processability, is less durable, has higher abrasion resistance,…
Driving Method For Galvano Scanner
Granted: December 15, 2005
Application Number:
20050277305
A galvano scanner system has a galvano scanner and a scanner driver for driving the scanner, wherein a microcomputer for generating commands in which digital data representing a drive pattern of the scanner is written is mounted in the scanner driver. The microcomputer for generating commands is actuated by an external or internal trigger signal, and the digital data of the drive pattern is sequentially output. The output data is converted to an analog signal in a DA converter, and a…
Motor Encoder
Granted: June 16, 2005
Application Number:
20050127762
An encoder mounted on a motor axle of an AC servomotor has a single bipolarly magnetized rotational disk, magnetic sensors for outputting X- and Y-signals that differ in phase by 90° in association with the rotation thereof, and a signal processing unit. The signal processing unit computes at predetermined cycles a rotor angle ?a of a motor rotor on the basis of the X- and Y-phase signals, generates three-phase magnetic pole signals U, V, and W that differ in phase by 120° on the basis…
Absolute Magnet Encoder
Granted: June 16, 2005
Application Number:
20050127906
The encoder rotor of an absolute magnetic encoder mounted on a servomotor shaft has a first drum of a bipolar magnet, and a second drum with a Q-bit multipolar magnetic pole track and a reference track. A signal processor generates absolute signals on the basis of detected signals, which differ in phase by 90° and in which a single rotation represents a single period, from X-phase and Y-phase magnetic sensors disposed facing the first drum, and on the basis of A- and B-phase signals,…
Wave gear device
Granted: March 31, 2005
Application Number:
20050066769
A wave gear device has a rigid internal gear, a flexible external gear, and a wave generator. The tooth profiles of both gears are initially defined by a basic rack tooth profile shape. The lower parts of the dedendum portions of these tooth profiles are modified by curves C2 and C3 having pressure angles ?2 and ?3 that are less than the standard pressure angle ?1 of the basic rack tooth profile shape C1. An increase in thickness of the tooth bottom side can be minimized even if the…
Angle detection device for rotational body
Granted: March 10, 2005
Application Number:
20050051717
In an angle detection device for a rotational body, an external peripheral surface of an arc-shaped fluorescent fiber is scanned by a scanning beam from a scanning mirror fixed to the rotational shaft of a swing motor. Fluorescence is generated at a position in the fluorescent fiber scanned by the scanning beam, the fluorescence is propagated to both ends thereof, and the received luminous energy corresponding to the scanning position is detected by photodiodes. A signal processing…
Wave gear drive with wide mesh three-dimensional tooth profile
Granted: March 3, 2005
Application Number:
20050044986
A wave gear drive in which wide-area meshing of the rigid internal gear and flexible external gear is achieved, reducing stresses on the bottom rim of the gear teeth and in the vicinity of the major axis of the inner ring surfaces of the wave generator, thereby improving the load capabilities of the wave gear drive.
Rotational angle detecting device for a wave gear device
Granted: December 30, 2004
Application Number:
20040261545
A driving mechanism includes a motor and a wave gear device. Three sets of torque sensors are attached at intervals of 120° on a diaphragm of a flexible external gear of the wave gear device. In the rotational angle detecting part of the signal processing circuit, signal components that are included in the outputs of the torque sensors, that vary in the form of two cycles of a sine wave per rotation of the wave generator and are synchronous with a rotational angle of the wave…
Projection encoder
Granted: December 30, 2004
Application Number:
20040262504
A projection linear encoder has an SOQ substrate formed with transmission gratings and grid-like photodiode groups, and a reflecting grating plate with reflecting gratings that are formed facing thereto. A light-blocking film composed of a metal thin film or the like is formed on a surface of a glass substrate of the SOQ substrate, and the transmission gratings are formed by patterning the light-blocking film. The photodiodes are integrally formed by epitaxial growth on the silicon layer…
Planetary gear drive
Granted: December 23, 2004
Application Number:
20040259677
A planetary gear drive includes a thin, elastically resilient internal gear arranged within an annular housing, in which there is also a carrier that is rotatably supported by a pair of tapered roller bearings. A sun gear located concentrically within a cylindrical portion of the carrier is arranged so that the sun gear is capable of floating movement perpendicular to the drive axis. Any uneven meshing caused by error in the assembly or manufacture of the gears is automatically cancelled…
Encoder signal interpolation divider
Granted: December 23, 2004
Application Number:
20040260499
In an encoder signal interpolation divider (1) that automatically corrects errors in the offset and gain of an input signal at a high speed with a low cost circuit configuration, and can accurately generate an encoder signal having a predetermined resolution by interpolation division, analog input signals (A1, B1) are subjected to offset correction by a 0-point correction circuit (13) in adders (4, 5) prior to being digitally converted by A/D converters (8, 9), and are subjected to gain…
Projection-type rotary encoder
Granted: September 23, 2004
Application Number:
20040183701
A projection-type rotary encoder is provided which has a light source, an object grating plate in which a substantially fan-shaped object grating for transmitting light is arranged at constant angular intervals in the circumferential direction, a rotary scale plate in which a substantially fan-shaped scale grating for transmitting light is arranged at constant angular intervals in the circumferential direction, and a photodiode grating plate in which a substantially fan-shaped photodiode…
