Abstract: A strain wave gear system (10) includes first and second sets of ball bearings (80, 82) located intermediate a flange (84) and a retainer plate (88) rotatable with an output (54) and a radially oriented flat disc (74) of the input including strain relief (76). Strain relief (76) is a helical slot in a coupling (70) located radially within the wave generator (94) and the ring gear (22). The ring gear (22) is sealed by a sealing system including sealant (42) forced by a protrusion (34) of the cap (24) entering into a cavity (36) through a channel (40) into a relief volume (38) of the housing (12). The bearing (48) rotatably mounting the housing (12) to the output (54) is lubricated by a lubricating system including plungers (110) threadably received in axial bores (102) intersecting with radial bores (104) in communication with radial holes (47) of the bearing (48).

Abstract: A torque transmission device has a pinion that includes a plurality of rollers that mesh with a plurality of teeth of an output. Each roller is supported by a bearing having rotating bearing elements. A clearance compensation for the diametrical difference between a diameter of each roller and an inscribed diameter of the associated rotating bearing elements is included in the plurality of teeth of the output such that there is no interference between the plurality of rollers and the plurality of teeth.

Abstract: A motion control apparatus in the form of a sealed rotary table (10) includes a first annular seal (54) located between a bearing cap (48) of a case and an inner diameter of a cylindrical flange (60), and a second annular seal (56) located between a seal ledge (22) of an annular wall (18) of the case and the outer diameter of the cylindrical flange (60). An enclosure (24), the annular wall (18) and a planar annular disc (16) are integrally formed as a single piece part of homogenous material. A drive station (12) includes a rotor (110) rotatably mounted inside an annular sleeve (118) by a bearing (140) inside an annular end cap (136) at an axial extent less than that of the annular sleeve (118). An encoder (150) is located within the annular end cap (136) and within the axial extent of the annular sleeve (118).

Abstract: A strain wave gear system (10) includes first and second sets of ball bearings (80, 82) located intermediate a flange (84) and a retainer plate (88) rotatable with an output (54) and a radially oriented flat disc (74) of the input including strain relief (76). Strain relief (76) is a helical slot in a coupling (70) located radially within the wave generator (94) and the ring gear (22). The ring gear (22) is sealed by a sealing system including sealant (42) forced by a protrusion (34) of the cap (24) entering into a cavity (36) through a channel (40) into a relief volume (38) of the housing (12). The bearing (48) rotatably mounting the housing (12) to the output (54) is lubricated by a lubricating system including plungers (110) threadably received in axial bores (102) intersecting with radial bores (104) in communication with radial holes (47) of the bearing (48).

Abstract: A motion control apparatus in the form of a sealed rotary table (10) includes a first annular seal (54) located between a bearing cap (48) of a case and an inner diameter of a cylindrical flange (60), and a second annular seal (56) located between a seal ledge (22) of an annular wall (18) of the case and the outer diameter of the cylindrical flange (60). An enclosure (24), the annular wall (18) and a planar annular disc (16) are integrally formed as a single piece part of homogenous material. A drive station (12) includes a rotor (110) rotatably mounted inside an annular sleeve (118) by a bearing (140) inside an annular end cap (136) at an axial extent less than that of the annular sleeve (118). An encoder (150) is located within the annular end cap (136) and within the axial extent of the annular sleeve (118).

Abstract: An apparatus (B) controls rotation of an annular member (36) relative to top and bottom housings (12, 10). The bottom housing (10) includes a disk (110) extending radially and terminating in a cylindrical portion (112) having circumferentially spaced slits (212). A wedge (16) abuts with the cylindrical portion (112) and is moved radially between first and second positions by an axially moveable piston (14), with the wedge including an angle surface (340) which interfaces with an angled surface (520) of the piston (14) through a plurality of balls (18). The disk (110) and the cylindrical portion (112) are formed as a single component of material having sufficient material strength and yield to allow engagement and disengagement of the cylindrical portion (112) with the annular member (36). The wedge (16) is slideable between an axial surface (250) of the disk (110) and a guiding flange (450) of the top housing (12).

Abstract: A strain wave gear system (10) includes first and second sets of ball bearings (80, 82) located intermediate a flange (84) and a retainer plate (88) rotatable with an output (54) and a radially oriented flat disc (74) of the input including strain relief (76). Strain relief (76) is a helical slot in a coupling (70) located radially within the wave generator (94) and the ring gear (22). The ring gear (22) is sealed by a sealing system including sealant (42) forced by a protrusion (34) of the cap (24) entering into a cavity (36) through a channel (40) into a relief volume (38) of the housing (12). The bearing (48) rotatably mounting the housing (12) to the output (54) is lubricated by a lubricating system including plungers (110) threadably received in axial bores (102) intersecting with radial bores (104) in communication with radial holes (47) of the bearing (48).

Abstract: Motion control apparatus (A) includes a direct coupled torque motor (54) slideably receiving an output (50) without other types of torque transmission devices between the output (50) and the motor (54) and between the output (50) and a pinion (7) in direct gearing engagement with an annular gear (44) connected to a second race (32) of a bearing (26) intermediate an annular mounting plate (38) and a dial plate (40). The second race (32) is a single, non-separable piece having L-shaped cross sections to define a mounting pilot for the annular gear (44). The motor (54) is secured to a mount plate (58) having an integral annular spacer (60) extending through a mounting tab (16) and secured to a mount ring (62) adjustably connected to the mounting tab (16) opposite to the mount plate (58).

Abstract: Motion control apparatus (A) includes a direct coupled torque motor (54) slideably receiving an output (50) without other types of torque transmission devices between the output (50) and the motor (54) and between the output (50) and a pinion (7) in direct gearing engagement with an annular gear (44) connected to a second race (32) of a bearing (26) intermediate an annular mounting plate (38) and a dial plate (40). The second race (32) is a single, non-separable piece having L-shaped, radial cross sections to define a mounting pilot for the annular gear (44). The motor (54) is secured to a mount plate (58) having an integral annular spacer (60) extending through a mounting tab (16) and secured to a mount ring (62) adjustably connected to the mounting tab (16) opposite to the mount plate (58).

Abstract: A robot compliance device includes first and second discs (12, 30) spaced along a first axis (X). A column (24) is interconnected between the first disc (12) and a beam (14) intermediate the first and second discs (12, 30). A compliance member (40) is mounted around the column (24) between the first disc (12) and the beam (14). First and second canted resilient plates (50) are interconnected between the compliance member (40) and the beam (14) and spaced from each other along a second axis (Y) perpendicular to the first axis (X) and are at a first acute angle with and spaced from the first axis (X). Third and fourth canted resilient plates (52) are interconnected between the second disc (30) and the compliance member (40) and spaced from each other along a third axis (Z) perpendicular to the first and second axes (X, Y) and are at a second acute angle with and spaced from the first axis (X).

Abstract: A linear motion brake (10) includes a channel shaped shoe guide (90) straddling a linear race (20) and having shoe bores (95) defined in leg plates (92) for receiving brake shoes (12). A piston (100) is reciprocally received in a piston cavity (86) of a plate-shaped housing (80) secured to the shoe guide (90). The piston (100) includes first and second protrusions (76, 134) extending from the piston head (102) in the reciprocation direction. Springs (114) are sandwiched between the shoe guide (90) and the piston (100). Ribs (116) of the piston (100) are slideably received in cutouts (96) formed in the connecting plate (94) of the shoe guide (92). Reciprocation of the protrusions (76, 134) cams the brake shoes (12) against the linear race (20).

Abstract: A motion control apparatus (10) in the form of a linear brake includes a camshaft (23) rotatable in a housing (11) moveable along a linear rail (30). The camshaft (23) is rotated by a gear motor (15) causing an eccentric engagement portion of a cam follower (24) to abut with a facing (12) which engages the linear rail (30) to provide a clamping force thereon. A damper (25) is received on a dowel pin (14) secured to the housing (11) and received in a U-shaped groove in the camshaft (23) to inhibit further rotation of the camshaft (23). A shim (20) separates the outer races of the bearings (22) receiving the camshaft (23) to preload the first and second bearings (22).

Abstract: A linear motion brake (10) includes a channel shaped shoe guide (90) straddling a linear race (20) and having shoe bores (95) defined in leg plates (92) for receiving brake shoes (12). A piston (100) is reciprocally received in a piston cavity (86) of a plate-shaped housing (80) secured to the shoe guide (90). The piston (100) includes first and second protrusions (76, 134) extending from the piston head (102) in the reciprocation direction. Springs (114) are sandwiched between the shoe guide (90) and the piston (100). Ribs (116) of the piston (100) are slideably received in cutouts (96) formed in the connecting plate (94) of the shoe guide (92). Reciprocation of the protrusions (76, 134) cams the brake shoes (12) against the linear race (20).

Abstract: A friction disc (16) for a torque and/or rotational control apparatus includes elongated and shortened fins (42, 43) upstanding between and equally circumferentially spaced intermediate first and second component discs (40, 41). The fins (42, 43) are free of circumferential interconnections to allow air to radially pass freely between the fins (42, 43). The fins (42, 43) extend in non-radial directions between the first and second component discs (40, 41). A mounting ring (48) is integrally formed with the elongated fins (42) intermediate and axially spaced from each component disc (40, 41) and radially inward of the inner edges (46) of the component discs (40, 41). The elongated fins (42) each includes a first elongated portion (42a) and a second shortened portion (42b) extending at an obtuse angle therefrom and on the mounting ring (48) radially inside of the inner edges (46). Windows (74) are formed in the mounting ring (48) radially inside of the component discs (40, 41) and of the elongated fins (42).

Abstract: A motion controller for use with a rod (10A, 10B, 10C) has a backlash reducer (88A, 88B, 88C) that substantially reduces or eliminates the space created after manufacturing parts with specified tolerance dimensions to substantially reduce or eliminate backlash. The backlash reducer (88A, 88B) can be in the form of a holder such as an internal retaining ring (78) and a shim (36), a threaded cap (38), or the like to accommodate various part size variances due to manufacturing tolerances. Alternately, the end cap (45) of the motion controller (10C) can have an outside thread (41) that mates to an inside thread (43) of the inside surface (54) of a housing (29). The motion controller (10A, 10B, 10C) has a friction collar (12) to hold the rod (14) under the action of balls (16) and a piston (18). The motion controller (10A, 10B, 10C) can be fluid powered with a fluid such as air.

Abstract: A brake (10) having application for a linear or rotational motion device includes a housing (120) in which a first piston (140), a wedge (142) and a second piston (144) cooperate to engage a friction facing (136) through a plurality of rollers (152, 154, 156, 158). The three part piston assembly (148) allows a braking action and prevents torsional forces that are non-axial to the axis of the first piston (140) and second piston (144). The pistons (140, 144) are biased by compression springs (176) and may be actuated by a fluid.

Abstract: A friction disc (16) for a torque and/or rotational control apparatus includes elongated and shortened fins (42, 43) upstanding between and equally circumferentially spaced intermediate first and second component discs (40, 41). The fins (42, 43) are free of circumferential interconnections to allow air to radially pass freely between the fins (42, 43). The fins (42, 43) extend in non-radial directions between the first and second component discs (40, 41). A mounting ring (48) is integrally formed with the elongated fins (42) intermediate and axially spaced from each component disc (40, 41) and radially inward of the inner edges (46) of the component discs (40, 41). The elongated fins (42) each includes a first elongated portion (42a) and a second shortened portion (42b) extending at an obtuse angle therefrom and on the mounting ring (48) radially inside of the inner edges (46). Windows (74) are formed in the mounting ring (48) radially inside of the component discs (40, 41) and of the elongated fins (42).

Abstract: A rotational control apparatus (10) includes multiple facings (274-276) rotatable with and axially slideable relative to a mount (124) and which sandwich multiple friction plates (252, 253) rotatable with and axially slideable relative to a hub (12). To create turbulent air flow, the friction plates (252, 253) include an undulating outer circumferential edge (258) and a plurality of passages (260) in the interface portion and overlapping the inner peripheries (282) of the facings (274-276). An automotive clutch release type bearing (290) directly abuts between a piston (40) and the friction facing (274) and is encapsulated in the piston cavity (36) and a cavity (277) formed in the friction facing (274), with the friction facing (274) engaging the axial end (34) of the air chamber (24) when the facings (274-276) and the friction plates (252, 253) are disengaged. In the preferred form, the air chamber (24) and the mount (124) are of the same geometry and are machined from identical castings.

Abstract: A rotational control apparatus (10) includes multiple facings (274-276) which sandwich multiple friction plates (252, 253) rotatable with. To create turbulent air flow, the friction plates (252, 253) include an undulating outer circumferential edge (258) and a plurality of passages (260) in the interface portion and overlapping the inner peripheries (282) of the facings (274-276). An automotive clutch release type bearing (290) directly abuts between and is encapsulated in the piston cavity (36) and a cavity (36) of a piston 40 and a cavity (277) formed in the friction facing (274). The friction facing (274) engages the axial end (34) of the air chamber (24) and in alternate form, a friction facing (300) of the piston (40) interfaces with an interface surface (318) intergrally formed on the hub (12) to control rotation of the hub (12) when the facings (274-276) and the friction plates (252, 253) are disengaged.

Abstract: Apparatus (10) for controlling rotation of an input (12) in the most preferred form of a brake includes a housing (50) which can be positioned in either first or second positions. In the first position, a piston (66) moves out of its cavity (64) in the housing (50) and forces a plate (76a) including the piston (66) and an interface facing (80) toward an interface disc (20) while a release spring (92) located in a countersink (74) acts on a fastener (98) to move the first plate (76a) away from the interface disc (20). When flipped to the second position, the piston (66) moves out of its cavity (64) in the housing (50) and forces a second plate (76b) interconnected to the first plate (76a) away from the interface disc (20) while engaging springs (90) sandwiched in cavities (70) between the housing (50) and the first plate (76a) including the interface facing (80) force the first plate (76a) toward the interface disc (20).