JP4388566B2 - 立体カム機構 - Google Patents
立体カム機構 Download PDFInfo
- Publication number
- JP4388566B2 JP4388566B2 JP2007144504A JP2007144504A JP4388566B2 JP 4388566 B2 JP4388566 B2 JP 4388566B2 JP 2007144504 A JP2007144504 A JP 2007144504A JP 2007144504 A JP2007144504 A JP 2007144504A JP 4388566 B2 JP4388566 B2 JP 4388566B2
- Authority
- JP
- Japan
- Prior art keywords
- cam
- follower
- dimensional
- side link
- rotation shaft
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000007246 mechanism Effects 0.000 title claims description 33
- 230000033001 locomotion Effects 0.000 claims description 25
- 239000007787 solid Substances 0.000 claims description 21
- 238000003825 pressing Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 description 10
- 230000002441 reversible effect Effects 0.000 description 10
- 239000002184 metal Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H53/00—Cams ; Non-rotary cams; or cam-followers, e.g. rollers for gearing mechanisms
- F16H53/06—Cam-followers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18056—Rotary to or from reciprocating or oscillating
- Y10T74/18288—Cam and lever
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18568—Reciprocating or oscillating to or from alternating rotary
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/21—Elements
- Y10T74/2101—Cams
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Description
支持部材5に支持されたカム回転軸1Aと、このカム回転軸1Aに取り付けられこの回転軸を中心に回転するC字状の立体カム1と、前記支持部材5に前記カム回転軸1Aから離れた位置で支持された従節関節回転軸4Aと、前記従節関節回転軸4Aに取り付けられ同軸を中心に回転する従節側リンク4とを備え、前記立体カム1には、独立した一対の3次元的な立体カム案内面2、3が径方向に所定間隔をおいて共にC字状に形成され、また前記従節側リンク4の一端側には所定の角度をもって配置された一対のカムフォロワ6、7に軸支されたガイドローラ8、9が設けられ、前記立体カム1に形成された一対の3次元的な立体カム案内面2、3に前記従節側リンク4に設けた一対のカムフォロワ6、7のガイドローラ8、9を当接して、前記立体カム1の回転により立体カム案内面2、3のガイドローラ8、9が当接する箇所のカム回転軸1Aからの半径とカム回転軸1A方向の高さが徐々に変化するように設けることで、前記立体カム1の回転運動を従節側リンク4の他端の揺動運動に変換するように構成したことを特徴とする立体カム機構である。
また、前記従節側リンク4側からの揺動運動を立体カム1側の回転運動にも変換可能に構成したことを特徴とする立体カム機構である。
また、前記前記従節側リンク4におけるカムフォロワ6、7またはガイドローラ8、9を前記立体カム1のカム案内面2、3に押し付ける付勢手段を前記カムフォロワ6、7または従節側リンク4に設置したことを特徴とする。
また、前記支持部材5を上下に分割構成とするとともに、これら上下支持部材間を相対回転自在に構成したことを特徴とする立体カム機構である。
1A カム回転軸
2 第1カム案内面
3 第2カム案内面
4 従節側リンク
4A 従節関節回転軸
5 支持部材
6 第1カムフォロワ
7 第2カムフォロワ
8 第1ガイドローラ
9 第2ガイドローラ
Claims (4)
- 支持部材5に支持されたカム回転軸1Aと、このカム回転軸1Aに取り付けられこの回転軸を中心に回転するC字状の立体カム1と、前記支持部材5に前記カム回転軸1Aから離れた位置で支持された従節関節回転軸4Aと、前記従節関節回転軸4Aに取り付けられ同軸を中心に回転する従節側リンク4とを備え、前記立体カム1には、独立した一対の3次元的な立体カム案内面2、3が径方向に所定間隔をおいて共にC字状に形成され、また前記従節側リンク4の一端側には所定の角度をもって配置された一対のカムフォロワ6、7に軸支されたガイドローラ8、9が設けられ、前記立体カム1に形成された一対の3次元的な立体カム案内面2、3に前記従節側リンク4に設けた一対のカムフォロワ6、7のガイドローラ8、9を当接して、前記立体カム1の回転により立体カム案内面2、3のガイドローラ8、9が当接する箇所のカム回転軸1Aからの半径とカム回転軸1A方向の高さが徐々に変化するように設けることで、前記立体カム1の回転運動を従節側リンク4の他端の揺動運動に変換するように構成したことを特徴とする立体カム機構。
- 前記従節側リンク4側からの揺動運動を立体カム1側の回転運動にも変換可能に構成したことを特徴とする請求項1に記載の立体カム機構。
- 前記従節側リンク4におけるカムフォロワ6、7またはガイドローラ8、9を前記立体カム1の立体カム案内面2、3に押し付ける付勢手段を前記カムフォロワ6、7または従節側リンク4に設置したことを特徴とする請求項1または2に記載の立体カム機構。
- 前記支持部材5を上下に分割構成とするとともに、これら上下支持部材間を相対回転自在に構成したことを特徴とする請求項1から3のいずれかに記載の立体カム機構。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007144504A JP4388566B2 (ja) | 2007-05-31 | 2007-05-31 | 立体カム機構 |
US12/451,712 US8418572B2 (en) | 2007-05-31 | 2008-05-28 | Three-dimensional cam mechanism |
PCT/JP2008/060253 WO2008149878A1 (ja) | 2007-05-31 | 2008-05-28 | 立体カム機構 |
CA2688597A CA2688597C (en) | 2007-05-31 | 2008-05-28 | Three-dimensional cam mechanism |
EP08765066A EP2163787B1 (en) | 2007-05-31 | 2008-05-28 | Three-dimensional cam mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2007144504A JP4388566B2 (ja) | 2007-05-31 | 2007-05-31 | 立体カム機構 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2009178831A Division JP4448554B2 (ja) | 2009-07-31 | 2009-07-31 | 立体カム機構 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008298165A JP2008298165A (ja) | 2008-12-11 |
JP4388566B2 true JP4388566B2 (ja) | 2009-12-24 |
Family
ID=40093691
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007144504A Active JP4388566B2 (ja) | 2007-05-31 | 2007-05-31 | 立体カム機構 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8418572B2 (ja) |
EP (1) | EP2163787B1 (ja) |
JP (1) | JP4388566B2 (ja) |
CA (1) | CA2688597C (ja) |
WO (1) | WO2008149878A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6342567B1 (ja) * | 2017-11-16 | 2018-06-13 | シナノケンシ株式会社 | カム型ハンド機構 |
EP3486043A1 (en) | 2017-10-16 | 2019-05-22 | Shinano Kenshi Kabushiki Kaisha | Cam-type hand mechanism |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2011155070A1 (ja) * | 2010-06-11 | 2013-08-01 | 国立大学法人福島大学 | 手術支援ロボット用のパラレルマニピュレータ |
JP6010815B2 (ja) * | 2012-04-27 | 2016-10-19 | 国立研究開発法人量子科学技術研究開発機構 | 楕円軌道回転装置及びpet装置 |
JP6977954B2 (ja) * | 2018-04-26 | 2021-12-08 | アルプスアルパイン株式会社 | 2軸立体カム機構 |
JP6663058B1 (ja) * | 2019-02-28 | 2020-03-11 | シナノケンシ株式会社 | ロボットハンド |
JP6937418B2 (ja) * | 2019-10-11 | 2021-09-22 | シナノケンシ株式会社 | ロボットハンド |
Family Cites Families (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1980527A (en) * | 1933-08-18 | 1934-11-13 | Collins & Aikman Corp | Mechanical movement |
FR1427742A (fr) * | 1964-11-13 | 1966-02-11 | Roannais Constr Textiles | Dispositif de came et de galet |
JPS5831461A (ja) | 1981-08-19 | 1983-02-24 | Fujitsu Ltd | 磁気テ−プ装置の制御方式 |
JPS5831461U (ja) * | 1981-08-25 | 1983-03-01 | 三菱電機株式会社 | カム機構 |
DE4233636A1 (de) | 1992-10-06 | 1994-04-07 | Sulzer Ag | Vorrichtung zum Antreiben eines Greiferbandes und Greiferwebmaschine mit einer derartigen Vorrichtung |
IT1306451B1 (it) | 1998-11-13 | 2001-06-11 | Colombo Filippetti Spa | Congegno di movimentazione a doppia camma sferica ad ingombroesiguo,per automatismi meccanici. |
JP2004346959A (ja) | 2003-05-20 | 2004-12-09 | Harmonic Drive Syst Ind Co Ltd | カム式動力伝達機構 |
-
2007
- 2007-05-31 JP JP2007144504A patent/JP4388566B2/ja active Active
-
2008
- 2008-05-28 US US12/451,712 patent/US8418572B2/en active Active
- 2008-05-28 WO PCT/JP2008/060253 patent/WO2008149878A1/ja active Application Filing
- 2008-05-28 EP EP08765066A patent/EP2163787B1/en active Active
- 2008-05-28 CA CA2688597A patent/CA2688597C/en active Active
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3486043A1 (en) | 2017-10-16 | 2019-05-22 | Shinano Kenshi Kabushiki Kaisha | Cam-type hand mechanism |
JP6342567B1 (ja) * | 2017-11-16 | 2018-06-13 | シナノケンシ株式会社 | カム型ハンド機構 |
EP3486526A1 (en) | 2017-11-16 | 2019-05-22 | Shinano Kenshi Kabushiki Kaisha | Cam-type hand mechanism |
JP2019089186A (ja) * | 2017-11-16 | 2019-06-13 | シナノケンシ株式会社 | カム型ハンド機構 |
Also Published As
Publication number | Publication date |
---|---|
US20100116072A1 (en) | 2010-05-13 |
CA2688597C (en) | 2012-10-16 |
EP2163787B1 (en) | 2012-10-17 |
US8418572B2 (en) | 2013-04-16 |
EP2163787A4 (en) | 2011-05-04 |
WO2008149878A1 (ja) | 2008-12-11 |
CA2688597A1 (en) | 2008-12-11 |
JP2008298165A (ja) | 2008-12-11 |
EP2163787A1 (en) | 2010-03-17 |
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