Kabushiki Kaisha Toyota Chuo Kenkyusho

Toyota Jidosha Kabushiki Kaisha

Toyoda Koki Kabushiki Kaisha

Nobuharu Mimura

Susumu Kawabata

Junzo Hasegawa

Kazunori Yoshida

Akihiko Kanamori

Osamu Toyama

Masao Kawase

Shinji Naruoka

Masao Kitano

A finger module includes a first link module rotating around a first joint shaft; first through third drive modules respectively fixed to the first link module and each having an electric motor, reduction means and output means; a second link module driven and rotated by the second drive module; and a third link module driven and rotated by the third drive module. In a finger module structure of the above finger module, the first through third drive modules and the second link module are separately provided in the first link module, and the third link module is provided in the second link module. A robot hand includes at least two of the finger modules side by side.

Finger module, finger module structure, and robot hand

An articulated hand comprising a plurality of finger module structures each of which has one top end provided with an abutting member for contacting an object and the other end connected to a finger connecting member and has a plurality of articulates formed between the one and the other ends by combination of a plurality of link members and articulate turn-shafts; a plurality of motors provided at the other ends of the respective finger module structures integrally therewith; a power transmitting device for transmitting motor powers to the articulate turn-shaft and a hand structure connected to a manipulator. The finger modules are arranged in a manner so that the articulate shafts are driven independently of each other, and each of the link members is provided with sensors respectively for directly detecting a relative angle and relative torque between adjacent link members. Each of the articulate turn-shafts is provided with an angel-torque servo system, wherein deviation signals based on the relative angle and torque are processed. In the articulated hand, each of the motors is connected to a variable constant-current source to change its power through changing an instruction current value and values of motor revolution speed obtained from driving voltages of the motors are respectively fed back to the servo systems to thereby correct the instruction current values.

Articulated hand

A spindle apparatus is composed of a holding member to define a casing, a spindle shaft to support a rotor rotatably, a neck bearing disposed radially of the spindle shaft, a buffer disposed between the holding member and the neck bearing, an end bearing secured to the end of the holding member remote from the rotor, and a mechanism provided between the buffer and the end bearing for transmitting power from a source of power to the spindle shaft for rotating the shaft. This spindle, rotatable at a high speed without any substantial vibration or noise, is applicable to spinning machines, more particularly to an overhung rotor.

High-speed spindle

A bearing device for high-speed rotary machines comprises a first rolling-element bearing having a retainer for holding constant spacing of rolling elements inserted between an inner race and an outer race thereof and also a second bearing for supporting the retainer of the first rolling-element bearing, thereby the retainer of the first rolling-element bearing is prevented from contacting with the inner race or the outer race.

Bearing device

In a driving gear of a rotor type open end fine spinning machine, a rotation shaft of a spinning rotor and a drive shaft are connected through a speed multiplying mechanism, the spinning rotor facing to a fiber feed passage and a yarn taking passage is rotated at a multiplied speed by rotation driving of the drive shaft, a cover is installed to surround the spinning rotor and the rotation shaft thereof, an air passage is constituted so that air flow to guide fibers at the fiber feed passage into the spinning rotor passes through inside of the cover and is exhausted out of an exhaust port provided on the cover, and air flow passing through the air passage eliminates the friction heat caused by rotation of the spinning rotor.

Driving gear of rotor type open end fine spinning machine

A weft yarn storage unit disposed between a yarn supply package and a weft insertion device for storing a weft yarn to be inserted in the warp shed, comprises a differential yarn feeding device for feeding the weft yarn from the yarn supply package, and a yarn storage means for winding the fed weft yarn therearound by co-operating with the differential yarn feeding device, storing the wound weft yarn therearound and unwinding the stored weft yarn therefrom by co-operating with the weft insertion device, the yarn storage means being continuously rotating in a direction opposite to the direction in which the weft yarn is unwound at a predetermined circumferential speed in response to an insertion speed of the weft yarn. This weft yarn storage unit allows high-speed weft insertion while preventing the yarn breakage by reducing ballooning of the weft yarn when the weft yarn is released off the yarn storage drum.

Growing community of inventors

Aichi, Japan

Nobuharu Mimura