Abstract: In a wave gear device provided with a cup-shaped flexible external gear, the difference in the direction of the thrust force applied to the wave generator during speed reduction or speed increase is used to reduce the input-side holding torque. During speed reduction, thrust force F1 is applied to the wave generator in the direction toward the open side of the flexible external gear, and during speed increase, thrust force F2 is applied in the opposite direction. The plug of the wave generator is pressed against the friction plate mounted on the motor housing by the thrust force F2 applied during speed increase, and the friction force that is produced is used as part of the input-side holding torque for restraining the wave generator from rotating.

Abstract: A wave gear drive comprises a circular rigid internal gear and a flexible external gear inside the rigid internal gear. A wave generator in the flexible external gear flexes the flexible external gear into an elliptical shape. The cross-section of the flexible external gear perpendicular to the axis at a point in the tooth trace direction of the flexible external gear is set as the main cross-section. The rigid internal gear and flexible external gear are gears with a module m, and the flexible external gear has a number of teeth that is smaller than the number of teeth of the rigid internal gear. The moving route M of a tooth of the flexible external gear with respect to a tooth of the rigid internal gear that accompanies rotation of the wave generator when meshing of the teeth in the main cross-section is approximated by rack meshing.

Abstract: In a self-propelled wheel apparatus of an aircraft, a drive mechanism composed of a wave gear drive and a motor is coaxially linked to an axle of a wheel via a one-way clutch, and rotational force in the reverse direction of the aircraft is transmitted to the wheel axle via the one-way clutch. When the aircraft moves forward, the link between the wheel axle and an output shaft of the wave gear drive is cut off by the one-way clutch, and motor rotational force is transmitted to the wheel axle, causing the wheel to rotate, only when the aircraft moves backward.

Abstract: The drill bit shaft structure for an excavation apparatus has a thin-walled shaft portion formed on a hollow drill bit shaft. The thin-walled shaft portion has a thinner wall than that of shaft portions of the hollow drill bit shaft adjacent to both ends of the thin-walled shaft portion. A cylindrical body provided with an adjustable joining structure is disposed so as to envelop the thin-walled shaft portion. Both ends of the cylindrical body are connected to the shaft portions of the hollow drill bit shaft adjacent to the both ends of the thin-walled shaft portion. The direction of excavation is controlled by bending the thin-walled shaft portion and the cylindrical body.

Abstract: In a composite wave gear drive, a flexspline (having a number of teeth Nf) is disposed on the inner side of first and second circular splines (numbers of teeth Nc1 and Nc2, respectively). One side of the flexspline is bent into an elliptical shape by a first wave generator, the other side of the flexspline is bent into an elliptical shape by a second wave generator, and the flexspline meshes with the first and second circular splines The first wave generator is a rotational input component, the second wave generator is a reduced-speed rotational output component, and the first and second circular splines are kept from rotating. The number of teeth is set such that Nc2=Nc1+2 and Nc1=Nf+2.

Abstract: A composite roll bearing (1), comprising an outer ring (2) and an annular inner ring (3) of groove shape in cross section having first, second, and third receiving surfaces (3a, 3b, 3c) facing the both end face inner peripheral portions (2a, 2b) and the circular inner peripheral surface (2c) of the outer ring (2) at specified intervals. A plurality of rollers (4) for thrust bearing are installed between one end face portion (2a) of the outer ring (2) and the first receiving surface (3a) of the inner ring (3) and between the other end face (2b) of the outer ring (2) and the second receiving surface (3b) of the inner ring (3). A plurality of rollers (5) for radial bearing are installed between the circular inner peripheral surface (2c) of the outer ring (2) and the third receiving surface (3c) of the inner ring (3). The rollers (5) are restricted to move in a thrust direction by retainer portions (8a, 8a) formed at the inner ends of retainers (6, 7) for the rollers (4) for thrust bearing.

Abstract: A wave-gear-type linear-actuation mechanism comprises a flat-type wave gear; a lead screw that is a structural component of the wave gear and is formed on an outer peripheral surface of a first circular spline; and a linear-actuation cylinder threaded onto the lead screw, a linear-actuation cylinder 4 having a screw groove that is formed in an inner peripheral surface thereof. It is possible to obtain a linear-actuation mechanism whose holding force during reverse input mode (speed increasing mode) is higher than cases where a cup-type flexible screw is used.

Abstract: In a galvano scanner system (1), a light position detection unit (30) is mounted so as to match the scanning center of the workpiece surface (7), the light position detection unit being provided with a two-dimensional light position sensor (32) disposed in the center and four one-dimensional light position sensors (33(1)) to (33(4)) concyclically disposed at equal angles about the center of the two-dimensional light position sensor. An origin position command is given to galvano scanners (3, 4), laser light is irradiated at low output, and the offset adjustment value is calculated based on the detection output of the two-dimensional light position sensor (32).

Abstract: An electromagnetic brake device (3) is assembled to a rear end section of a small-sized motor (1). The electromagnetic brake device (3) has a rotating disc (11) fixed to a motor rotation shaft (4), a sliding disc (12) slidable in an axial direction, a coil spring (13) pressing the sliding disc (12) to the rotating disc (11), and an electromagnet (14) capable of attracting the sliding disc (12) against spring force. A circular recess (16e) is formed in the center of a rear end surface of a yoke (16) of the electromagnet (14). In a state where the electromagnetic brake device (3) is assembled, a bearing (6) supporting a rear end shaft section (4b) of the motor rotation shaft is received in the circular recess (16e). As a consequence, no large circular dead space is produced at a portion on the outer periphery side of the bearing (6), which portion is between a motor end plate (5) and a rear end surface of the electromagnetic brake device (3).

Abstract: In a flexspline of a wave gear device, an annular flange thereof is constructed from a first annular part bent at a right angle from an outer peripheral edge of a diaphragm, and a second annular part caused to inwardly protrude at a uniform width from a leading end of the first annular part. It is possible for the annular flange to be disposed within the region where the diaphragm is formed, as viewed in the direction of an axis of the device. An outer diameter can be reduced to a greater extent than with a “silk hat”-shaped flexspline; and when a hollow wave gear device is manufactured, a hollow diameter can be more readily increased than in a case where a cup-shaped flexspline is used.

Abstract: A robot hand converts the longitudinal extending and retracting motion of an actuating rod of a linear actuator into opening and closing motion of left and right first links via a link mechanism. The link mechanism includes left and right middle links composed of coil springs. When the left and right first links come in contact with an object to be gripped, the middle links elastically deform and expand, and the force gripping the object gradually increases due to the elastic deformation of the middle links. It is possible to prevent a large gripping force from acting suddenly on the object and to prevent the object from being deformed, damaged, or otherwise suffering harmful effects.

Abstract: A small-sized, lightweight servo motor brake device (1) that has a low operation speed for releasing a brake during normal operation is provided, wherein compression coil springs (7) cause a slide plate (6) to be pressed against a brake disc (4) that is securely connected to a motor shaft (2), and a braking state is formed. When a small-sized motor (12) causes a cam disc (8) to rotate in a direction in which a cam follower (10) rolls up from a trough (9b) of a cam surface (9) to a peak (9a), the slide plate (6) moves against the spring force away from the brake disc (4), and the device switches to a rotation-maintaining state in which the braking force has been released.

Abstract: In a linear actuator (1), on the inside of a rectangular tubular movable element (3), a linear guide (14) that supports the movable element (3) so as to be linearly movable is positioned at a center of the movable element (3), and a position detecting mechanism (20) and load attaching member (13) that sandwich the linear guide are disposed linearly in a vertical direction. This arrangement enables a center of gravity of the movable element (3) to be matched with a center of the linear guide (14). A magnetic circuit is in a bilaterally symmetrical relationship with regard to the center of the movable element (3). Therefore, a center of a thrust force that acts upon the movable element (3) is matched with the center of the movable element (3). The center of the thrust force that acts upon the movable element (3), the center of gravity of the movable element (3), and the center of the linear guide (14) are positioned at the center of the movable element (3).

Abstract: 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 side joint part (6). The finger tip part (4) can be swung about the center axis thereof. When a bolt (W) is held by the finger tip part (4) and the finger part (4) is rotated, the tightening operation of the bolt (W) can be performed.

Abstract: A finger unit of a robot hand has a first rotational actuator, a first finger joint part, a first finger linkage, a second finger joint part, and a second finger linkage that are connected in this order. A second rotational actuator is attached to the first finger linkage. The first finger linkage swivels about the first finger joint part by the first rotational actuator, and the second finger linkage swivels about the second finger joint part by the second rotational actuator. The second rotational actuator is attached to the first finger linkage so as to be in a slantwise orientation relative to a straight line connecting a center of rotation of the first finger joint part and a center of rotation of the second finger joint part. With this configuration, an axial length of the finger unit of a robot hand can be shortened.

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 ? 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 wave gear drive (1), wherein a rigid internal gear (2) is formed in a conical gear and a flexible external gear (3) is formed in a spur gear with a module m. The number of the teeth of the external gear (3) is reduced by the quantity of 2n (n is a positive integer) less than that of the internal gear (2), and the amount of the deflection of the major axis of the elliptic rim neutral line of the external gear (3) in the cross section perpendicular to the axis of the external gear (3) in the tooth trance direction is set to 2 ?mn (?>1). In the cross section perpendicular to the axis at the intermediate part in the tooth trance direction, the engagement of the teeth of the both gears (2, 3) is approximated by the engagement of a rack to obtain the moving route (M) of the teeth of the external gear (3) according to the rotation of a wave generator (4).

Abstract: An insert member (42) having an identical permeability is fitted in the circular center hole(41a) of a magnetic ring (41) which is then fitted in the circular hollow section (43a) of a fitting-over member (43) having an identical permeability. Under that state, the magnetic ring (41) is placed in a parallel magnetic field. Lines of magnetic flux passing through the magnetic ring (41) held between the insert member (42) and the fitting-over member (43) become linear without substantially inclining against the parallel magnetic field. Under that state, harmonic noise causing a deterioration in detection precision will scarcely appear in the output of a magnetic sensor for detecting the rotating magnetic field of a ring magnet (40) obtained by performing two-pole magnetization on the magnetic ring (41).

Abstract: A wave gear device, wherein, when a wave generator is in a low speed rotating state, a rolling bearing state is formed by a wave bearing and the wave generator and a flexible external gear are held in a relatively rotatable state and when the wave generator is in a high speed rotating state, partition pieces and split side plate pieces forming the retainer of the web bearing are displaced to the outside to stop the rotation of balls in their axes and the revolution thereof. Accordingly, a sliding bearing state is formed by lubricating oil film formed between the wave generator and the flexible external gear and the wave generator and the flexible external gear are held in a relatively rotatable state.

Abstract: In the magnetic absolute encoder, an ordinary operating circuit and an ordinary/backup operating circuit are actuated during ordinary operation in which power is supplied from the ordinary operating power supply; the single-rotation absolute value (1) and single-rotation absolute value (2) detected by these circuits are compared by the abnormality diagnosis circuit, and the presence or absence of an abnormality is automatically judged During backup in which the ordinary operating power supply is interrupted, only the low-power-consumption ordinary/backup operating circuit is actuated, and the multiple-rotation value (2) is detected At the point in time at which the system is returned to ordinary operation, the multiple-rotation value setting circuit sets the multiple-rotation value (2) as the multiple-rotation value (1) of the ordinary operating circuit. As a result, the calculation operation of the multiple-rotation value (1) can be restarted.