Power transmission device

{
  "publication_number": "US12007002B2",
  "country": "US",
  "kind": "B2",
  "title": "Power transmission device",
  "abstract": "A power transmission device is provided including: a base, provided with a pair of left and right drive pulleys; an intermediate member, rotatably supported by the base about a first axis; and a driven member, rotatably supported by the intermediate member about a second axis. A pair of left wires wound in opposite directions are fixed to the left drive pulley and the driven member. A pair of right wires wound in opposite directions to each other are fixed to the right drive pulley and the driven member. By the drive pulleys, when the driven member is rotated in the same direction about the second axis, torque in opposite directions about the first axis is applied to the driven member, and when the driven member is rotated in opposite directions about the second axis, torque in the same direction about the first axis is applied to the driven member.",
  "claims": [
    "1. A power transmission device, comprising: a base, provided with a pair of left and right drive pulleys that are independently rotatable; an intermediate member, rotatably supported by the base about a first axis; and a driven member, rotatably supported by the intermediate member about a second axis orthogonal to the first axis, wherein a pair of left wires wound in opposite directions to each other are each fixed to the left drive pulley and the driven member; a pair of right wires wound in opposite directions to each other are each fixed to the right drive pulley and the driven member; the left wires and the right wires are wound around the intermediate member in order to apply torque that rotates the driven member about the first axis by rotation of the drive pulleys corresponding thereto; in response to torque about the second axis applied to the driven member via the left wires by rotation of the left drive pulley and torque about the second axis applied to the driven member via the right wires by rotation of the right drive pulley being in a same direction, torque about the first axis applied to the driven member from the left wires and torque about the first axis applied to the driven member from the right wires are in opposite directions; and in response to the torque about the second axis applied to the driven member via the left wires by rotation of the left drive pulley and the torque about the second axis applied to the driven member via the right wires by rotation of the right drive pulley being in opposite directions, the torque about the first axis applied to the driven member from the left wires and the torque about the first axis applied to the driven member from the right wires are in the same direction.",
    "2. The power transmission device according to claim 1, wherein the torque about the first axis applied to the driven member when tension is applied to one of the left wires is in a direction opposite to the torque about the first axis applied to the driven member when tension is applied to the other of the left wires, and the torque about the first axis applied to the driven member when tension is applied to one of the right wires is in a direction opposite to the torque about the first axis applied to the driven member when tension is applied to the other of the right wires.",
    "3. The power transmission device according to claim 1, wherein the intermediate member comprises a pair of left idler pulleys around which the left wires are respectively wound and a pair of right idler pulleys around which the right wires are respectively wound.",
    "4. The power transmission device according to claim 2, wherein the intermediate member comprises a pair of left idler pulleys around which the left wires are respectively wound and a pair of right idler pulleys around which the right wires are respectively wound.",
    "5. The power transmission device according to claim 3, wherein the intermediate member has a pair of horizontal side surfaces orthogonal to the first axis and facing away from each other, and a pair of vertical side surfaces orthogonal to the horizontal side surfaces and facing away from each other; on the vertical side surfaces, the pair of left idler pulleys and the pair of right idler pulleys are arranged symmetrically about an imaginary plane orthogonal to the vertical side surfaces and containing the first axis, each being supported on the vertical side surfaces so as to be rotatable about an axis parallel to the vertical side surfaces.",
    "6. The power transmission device according to claim 4, wherein the intermediate member has a pair of horizontal side surfaces orthogonal to the first axis and facing away from each other, and a pair of vertical side surfaces orthogonal to the horizontal side surfaces and facing away from each other; on the vertical side surfaces, the pair of left idler pulleys and the pair of right idler pulleys are arranged symmetrically about an imaginary plane orthogonal to the vertical side surfaces and containing the first axis, each being supported on the vertical side surfaces so as to be rotatable about an axis parallel to the vertical side surfaces.",
    "7. The power transmission device according to claim 1, further comprising: a pair of horizontal idler pulleys, coaxial with the first axis and rotatable about the first axis, wherein the left wires and the right wires are respectively wound around the horizontal idler pulleys corresponding thereto between the drive pulleys and the driven member.",
    "8. The power transmission device according to claim 2, further comprising: a pair of horizontal idler pulleys, coaxial with the first axis and rotatable about the first axis, wherein the left wires and the right wires are respectively wound around the horizontal idler pulleys corresponding thereto between the drive pulleys and the driven member.",
    "9. The power transmission device according to claim 3, further comprising: a pair of horizontal idler pulleys, coaxial with the first axis and rotatable about the first axis, wherein the left wires and the right wires are respectively wound around the horizontal idler pulleys corresponding thereto between the drive pulleys and the driven member.",
    "10. The power transmission device according to claim 4, further comprising: a pair of horizontal idler pulleys, coaxial with the first axis and rotatable about the first axis, wherein the left wires and the right wires are respectively wound around the horizontal idler pulleys corresponding thereto between the drive pulleys and the driven member.",
    "11. The power transmission device according to claim 5, further comprising: a pair of horizontal idler pulleys, coaxial with the first axis and rotatable about the first axis, wherein the left wires and the right wires are respectively wound around the horizontal idler pulleys corresponding thereto between the drive pulleys and the driven member.",
    "12. The power transmission device according to claim 6, further comprising: a pair of horizontal idler pulleys, coaxial with the first axis and rotatable about the first axis, wherein the left wires and the right wires are respectively wound around the horizontal idler pulleys corresponding thereto between the drive pulleys and the driven member.",
    "13. The power transmission device according to claim 3, further comprising: a pair of horizontal idler pulleys, coaxial with the first axis and rotatable about the first axis, wherein the left wires and the right wires are respectively wound around the horizontal idler pulleys corresponding thereto between the drive pulleys and the driven member; the pair of left idler pulleys and the pair of right idler pulleys are all of the same shape; and one of the horizontal idler pulleys is of the same shape as the other of the horizontal idler pulleys.",
    "14. The power transmission device according to claim 1, wherein the intermediate member is provided with a through hole.",
    "15. The power transmission device according to claim 14, wherein the driven member is provided with an assisted drive part driven by a linear member; and the linear member passes through the through hole.",
    "16. The power transmission device according to claim 15, wherein a recess or an accommodation hole accommodating an auxiliary drive device driving the assisted driven part is formed in the base."
  ],
  "description_excerpt": "Technical Field The present disclosure relates to a power transmission device based on a wire drive system including a wire and a pulley. Related Art A manipulator is known in which a plurality of joints composed of a wire and pulley system are connected (for example, see Patent Document 1). Patent Document 1 discloses, as a conventional example, a manipulator in which each joint is composed of a rotating shaft and two freely rotatable pulleys (a tightening pulley and a loosening pulley) provided on the rotating shaft. The rotating shafts are parallel to each other. Each of the tightening pulleys has one turn of a tightening wire wound thereon, and a tip of the tightening wire is fixed at a tip position of a finger. By winding the tightening wire by a drive device, each joint rotates and the manipulator bends. Each of the loosening pulleys is connected from the tip of the finger to a spring by a loosening wire wound in an opposite direction to the tightening wire. The loosening wire and the spring are used in restoring the bent manipulator to its original state.\n\n[Patent Document 1] Japanese Patent Laid-open No. 2003-211383 In a humanoid robot or the like, it is sometimes desired to configure a joint rotatable about two axes, like a joint provided in a human wrist. In the manipulator described in Patent Document 1, the rotating shafts are parallel to each other. Thus, there is a problem that a bending direction is limited to one direction orthogonal to the rotating shafts, and a joint rotatable about two axes cannot be provided in the manipulator.",
  "cpc": [
    "F16H 19/08",
    "B25J 17/0258",
    "B25J 9/104",
    "F16H 19/06",
    "F16H 2019/0695",
    "F16H 2019/085"
  ],
  "ipc": [
    "B25J 17/02",
    "B25J 9/10",
    "F16H 19/08"
  ],
  "assignees": [
    "HONDA MOTOR CO LTD"
  ],
  "inventors": [
    "ISHIKAWA TETSUYA"
  ],
  "filing_date": "2023-03-02",
  "publication_date": "2024-06-11",
  "grant_date": "2024-06-11",
  "priority_date": "2022-03-04",
  "application_number": "US-202318177114-A",
  "family_id": "87851291",
  "citations": [
    "JP2003211383A",
    "KR20210103781A",
    "US2020276720A1",
    "US5697256A",
    "US5792135A",
    "US8052185B2"
  ]
}