Abstract: A finger joint mechanism (1) having two wave gear reduction drives (20, 30) disposed coaxially with each other, in which rotational force of a motor (40) is transmitted to a rotation input shaft (13) common to the drive gears through a driving bevel gear (42) and a driven bevel gear (43). Output shafts (11, 12) are formed integrally with bosses (24, 34) of the cup-like flexible external gears (22, 32) of the wave gear drives (20, 30), and mounting arms (9, 10) of a rotating member (3) are fixedly connected to the output shafts. The wave gear reduction drives, which can be easily reduced in size, are used as the reduction gears for a rotary actuator (5) assembled in the finger joint mechanism. Since the finger joint mechanism uses the two wave gear reduction drives, the rate of increase in torque capacity against the rate of increase in an installation space is much higher than a case where one gear reduction drive with a large model number is used to increase torque capacity of the mechanism.

Abstract: The power-off electromagnetic brake (2) attracts an armature that is pressed by a spring force to a rotating member by a magnetic attraction force that is generated by energizing an exciting coil, and brake force that is acting on the rotating member is released. A voltage control circuit (12) continuously energizes the exciting coil for a fixed length of time and generates a considerable magnetic attraction force in order to attract the armature to a yoke when a brake power source (14) is switched on during brake release. After the armature has been attracted to the yoke, the voltage control circuit (12) intermittently energizes the exciting coil at a set cycle and a set on/off duty ratio to hold the armature in an attracted state to the yoke, thereby reducing power consumption and heat generation.

Abstract: In a flat wave gear device, there is determined a rack-approximated movement locus Lc1 of a flexible externally toothed gear with respect to an S-side rigid internally toothed gear accompanying rotation of a wave generator. (?OPT is a minimum value of the radius of curvature of the movement locus Lc1, and is determined from an evolute e of the movement locus Lc1. A convex arc having a radius ? (???OPT) is used in a main part of a tooth profile of the flexible externally toothed gear. A parallel curve c that is set apart from a movement locus Lc2 by the arc radius p is used on a main part of a tooth profile to be generated on the S-side rigid internally toothed gear. The movement locus Lc2 accounts for the actual number of teeth, and is obtained from a center A of a convex arc of the flexible externally toothed gear being drawn with respect to the rigid internally toothed gear.

Abstract: A multi-joint finger unit (1) has first and second joint sections (3, 5) constructed by using bevel gears. In each joint section (3, 5), the section where a driving bevel gear (10, 44) and a driven bevel gear (14, 56) mesh with each other and also a bearing section of a joint shaft (15, 57) are assembled in a tubular housing (13, 51) whose forward end is closed. Rear end openings (13A, 52) of the tubular housings (13, 51) are closed by a tubular housing (7) at a finger root and a tubular housing (41) at a finger body section. The section where the gears of the joint sections (3, 5) mesh and the bearing section are substantially sealed, so that a foreign matter is prevented from entering from the outside to these sections and lubricant does not leaks from these sections. The multi-joint finger unit is suitable for use in place where thick powder dust is present and in a clean room.

Abstract: In a wave linear motion mechanism (4) of a holding mechanism (1), those portions of a flexible screw (14) where first and second male screws (32, 33) are formed are elliptically deformed by first and second wave generators (12, 13) installed on an input shaft (11), and the first and second male screws (32, 33) are respectively partially engaged with first and second female screws (42, 44) of first and second circular nuts (15, 16). First and second holding members (5, 6) are mounted on the first and second circular nuts (15, 16), respectively. When the input shaft (11) is rotated by a motor (3), the first and second holding members (5, 6) are opened or closed depending on the rotation direction to release or hold an object (W).

Abstract: In a roll rotation mechanism (1) for continuously causing a film-rolling roll to rotate at a constant rate, an Oldham coupling (4) is interposed in a transmission path between a wave gear reduction mechanism (3) and a roll (10). The Oldham coupling (4) forms a connection between a gear rotation output shaft (34) and a roll rotation shaft (11) in a state in which latitude of movement ? is present about a central axis line (4a). When a roll (10) is continuously rotated at a constant rate, the Oldham coupling (4) is held in a state in which no latitude of movement is present in a rotation direction R and latitude of movement ? is present in a direction opposite the rotation direction; and rotation torque is transmitted.

Abstract: A relay connector is secured to a hollow hole forming member provided with a hollow hole in a hollow rotator so as to be coaxially located in the hollow hole in order to draw out an electric wire group from the side of one end surface in the direction of a rotation central axis line of the hollow rotator to the side of the other end surface by using the hollow hole passing through in the direction of the rotation central axis line in the hollow rotator. A first connection section is formed on one end of the direction of the rotation central axis line of the relay connector and a second connection section is formed on the other end thereof. A first electric wire side connector attached to the end of a first electric wire group is electrically and detachably connected to the first connection section and a second electric wire side connector attached to the end of a second electric wire group is electrically and detachably connected to the second connection section.

Abstract: A complex sensor comprises a touch sensor and a proximity sensor. The touch sensor comprises a flexible pressure-sensitive sheet covering a fingertip portion. The pressure-sensitive sheet comprises a front surface film and a rear surface film composed of a flexible conductive material, an intermediate film which is sandwiched between the films in a state in which the intermediate film is electrically connected and which is composed of pressure-sensitive conductive rubber, and first to fourth electrode terminals formed on the front surface and rear surface films. The size of a load acting on the pressure-sensitive sheet and the center position of the load can be detected based on the terminal voltage. A through-hole is formed in the pressure-sensitive sheet such that the sensing surface of the proximity sensor is exposed, thus the approach of a holding object can be detected.

Abstract: A wave reduction gear (5) is disposed inside a device case (2) of a rotating table device (1). Lubrication oil is sprayed from an oil supply channel (22), which is formed in the device case (2), toward an oil supply hole (22) formed in a cup-shaped flexible externally toothed gear (12). A wave bearing (19) disposed in the interior is lubricated via the oil supply hole (21). Lubricating oil that has entered into the flexible externally toothed gear (12) is forcibly suctioned to the exterior via an oil recovery channel (23) that is formed in the device case (2). Accordingly, it will be possible to prevent oil from being suctioned due to the negative pressure state in the interior of the flexible externally toothed gear accompanying the high-speed rotation, and regions of the wave bearing (19) can be reliably lubricated.

Abstract: In an automatic torque-switching apparatus (1), a fixed member (12) of a reduction device (8) is attached to an apparatus housing (2) via a one-way clutch (9) so as to not rotate in the direction of torque acting on the fixed member from the load side. A rotational input member (13) of the reduction device (8) and the fixed member (12) of the reduction device are linked via a torque limiter (10) so as to rotate integrally only when the torque acting on the fixed member (12) is less than or equal to a prescribed value. The speed reducing operation is not performed while the torque is less than or equal to the prescribed value, and the rotation of a motor (3) is output directly. When the torque exceeds the prescribed value, the reducing operation is performed, and a switch is automatically made to a rotational output having reduced speed and a large torque.

Abstract: A multiple-rotation absolute encoder attached to an actuator provided with a motor and a reduction gear comprises a multiple-rotation value counter for counting a multiple-rotation value representing a number of rotations of a rotating shaft of the motor from a predetermined origin; a memory part for storing a reduction ratio R of the reduction gear; and a counter-controlling part for setting a range of the count value of the multiple-rotation value counter from zero rotations to (R?1) rotations on the basis of the reduction ratio R stored and maintained in the memory part, resetting the count value to zero when the rotating shaft makes a single rotation in a forward direction from a state in which the count value is (R?1), and setting the count value to (R?1) when the rotating shaft makes a single rotation in a reverse direction from a state in which the count value is zero.

Abstract: A flat type wave gear device is realized having a much improved load capacity. When d is an amount of radial flexing at a major axis location of a rim neutral circle of the flexible external gear of a flat type wave gear device flexed into an elliptical shape and t is the rim thickness of the flexible external gear, then (0.5237 Ln(R)?1.32)d?t?(0.8728 Ln(R)?2.2)d when the reduction ratio R of the wave gear device is less than 80, and (1.5499 Ln(R)?5.8099)d?t?(2.5832 Ln(R)?9.6832)d when the reduction ratio R of the wave gear device is 80 or more. Using this setting makes it possible to increase the tooth root fatigue limit strength of the flexible external gear, thereby making it possible to improve the load capacity of the flexible external gear.

Abstract: A sealed worm gear type finger joint unit for a robot hand has a circular opening in a gear box case of the unit, and the opening is closed by a rubber bush. When the rubber bush is removed, a shaft end face of a worm shaft section is exposed from the circular opening, and this makes a tool engagement section formed on the shaft end face is accessible from the outside. A tool for turning the worm shaft section is fitted in the tool engagement section, and the worm shaft section can be easily turned by the tool. Turning the worm shaft section turns a worm, turning a worm wheel meshing with the worm, and this turns the joint shaft. As a result, a swing arm connected to shaft end sections of the joint shaft can be moved to a predetermined position. In the finger joint unit, the joint shaft can be easily manually turned.

Abstract: A rotary terminal mechanism in which a first electroconductive ring is inserted, under a slightly collapsed state, between the circular internal peripheral surface of a first outside electrode and the circular external peripheral surface of a first inside electrode that are arranged concentrically. The first electroconductive ring is kept contacting the first outside electrode and the first inside electrode by the elastic restoring force. When the first outside electrode and the first inside electrode rotate relatively, the first electroconductive ring rolls along the circular internal peripheral surface and the circular external peripheral surface while being kept pressed against these surfaces by the elastic force. Consequently, electrical connection is formed constantly between them even if the first outside electrode and the first inside electrode rotate relatively. A rotary terminal mechanism of simple structure requiring fewer components and being advantageous to miniaturization can thereby be attained.

Abstract: In a cup-type or “silk hat”-type wave gear device (1), the rim thickness t of the flexible externally toothed gear (3) thereof satisfies the relations (0.5237Ln(R)?1.32)d?t?(0.8728Ln(R)?2.2)d if the reduction ratio R of the wave gear device is less than 80, and (1.5499Ln(R)?5.8099)d?t?(2.5832Ln(R)?9.6832)d if the reduction ratio R is equal to or greater than 80, where d is the radial deflection, measured at the position of the major axis of the neutral circle of the rim, in a state in which the flexible externally toothed gear is bent into an elliptical shape. The effective face width L of the external teeth (35) is a value within the range of 21 to 30% of the pitch circle diameter. Such settings make it possible to increase the bottom fatigue strength of the flexible externally toothed gear and improve the load capacity of the wave gear device (1).

Abstract: In a concentric double axis mechanism (1); a driving bevel gear (7) is placed concentrically with and freely from any interference with an axis-A (3), a follower bevel gear (8) is meshed with the driving bevel gear (7), and an axis-B (9) is concentrically connected and fixed to the follower bevel gear (8). Since the driving bevel gear (7) is driven by the axis-B actuator (12) that is independent from the axis-A actuator (11), the axis-B (9) can be driven being free from any interference with the axis-A (3). The axis-A actuator (11) does not become a load for the axis-B actuator (12), nor does the axis-B actuator (12) become a load for the axis-A actuator (11).

Abstract: In an actuator (1) in which an angle detector (13) of a magnetic encoder for detecting the rotational position of a motor (3) is incorporated inside a wave reduction gear (5), detection signals from Hall elements (11a, 11b) of the angle detector (13) are transmitted via sensor lead wires (17) that have been brought out through wiring holes (36a, 33a, 35a, 37a) formed inside the motor (3) to a sensor signal converter board (14) disposed on the rear end side of the motor. Since the wiring is not required to be brought out to the exterior, indirectly routed along the exterior of the motor (3), and brought out to the rear side thereof, the wiring is not mechanically damaged and can be brought out with the shortest possible wiring distance, and the effect of electromagnetic noise can be reduced.

Abstract: 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, and is harder than the first aluminum alloy powder; the internal teeth-forming ring is fitted inside the gear main body ring and the assembly is integrated by powder forging; and the resulting ring-shaped forging is subjected to post-processing, including cutting teeth. The gear main body portion and internally toothed portion are securely integrated by powder forging, and a lightweight rigid internal gear with high durability can therefore be obtained.

Abstract: A rigid internal gear and a flexible external gear of a wave gear drive are spur gears of module m. The number of teeth of the external gear is smaller by 2n (n is a positive integer) than that of the internal gear. The deflection of the major axis of the elliptical rim neutral line on the principal cross-section of the external gear is set at 2?mn (?<1). On the principal cross-section, the meshing of both gears is approximated by rack meshing. The locus M of movement of a tooth of the external gear caused by the rotation of a wave generator is determined. A part AC of the locus M of movement from the inflection point A of the locus M of movement to the deepest position B of meshing is determined on the entering side of meshing of the teeth toward the major axis of the locus M of movement.

Abstract: An outer ring of a cross roller bearing is a composite component having an outer ring main body portion constructed of a lightweight metal alloy and a raceway surface formation portion linked to an inner side thereof and constructed of a ferrous material. A ring for forming the raceway surface formation portion is preformed, and is inserted into a forging die, powder forging is performed using a metal powder for manufacturing the outer ring main body portion, a composite component is manufactured in which a ringshaped portion for forming the outer ring main body portion is integrally formed with the raceway surface formation ring, and an after-treatment is performed on the product.