Abstract: A rotary drive device includes a pair of drive force transmissions, a pair of decelerators, a pair of carriers, and at least one coupler. Driving rollers are included in the pair of drive force transmissions. Driving rollers transmit drive force to a main wheel. The main wheel includes driven rollers. The pair of drive force transmissions are rotatable about a rotation axis. The pair of carriers accommodate at least a portion of the decelerators. The pair of carriers oppose each other in an axial direction along the rotation axis. The pair of carriers include a first carrier and a second carrier that are directly or indirectly coupled by the at least one coupler.

Abstract: An annular body includes a base portion and a resistance wire located in the base portion and including first and second resistance wire portions. The first resistance wire portion includes first regions arranged at intervals in the circumferential direction and each including a region in which a first portion extending in a direction including components in both the radial direction and the circumferential direction is repeatedly provided in the circumferential direction. The second resistance wire portion includes the second regions arranged at intervals in the circumferential direction and each including a region in which a second portion extending in a direction including components in both the radial direction and the circumferential direction is repeatedly arranged in the circumferential direction.

Abstract: A sensor includes a base, and first and second resistance lines. The base extends in a direction intersecting with a central axis. The first resistance lines are arrayed in a circumferential direction on a surface of the base. The second resistance lines are arranged concentrically with the first resistance lines and between the first resistance lines in the circumferential direction on the surface of the base. In the first resistance lines, the number of regions of the resistance line along the circumferential direction is one or less, and the number of regions of the resistance line along a radial direction is one or less. The sensor is able to provide improved detection accuracy.

Abstract: An annular body includes a base, a first resistance wire, a second resistance wire, a first terminal, and a second terminal. The base surrounds a central axis and expands in a direction intersecting the central axis. Resistance values of the first and second resistance wires change according to strain of the base. The first terminal is electrically connected to the end of the first resistance wire. The second terminal is electrically connected to an end of the second resistance wire. The first terminal is at a first position in the circumferential direction. The second terminal is at a second position in the circumferential direction. When viewed in the axial direction, the central angle defined by the first position, the central axis, and the second position is equal to or greater than about 90°.

Abstract: An external gear includes a body, external teeth, a diaphragm, and a strain gauge. The diaphragm extends in a direction intersecting with an axial direction on another side in of the body the axial direction. The strain gauge is on at least one of a surface on one side of the diaphragm in the axial direction and a surface on another side of the diaphragm in the axial direction. The strain gauge is only in a region that is about a half or less of a radial length from one end of the diaphragm in the axial direction to the other end of the diaphragm in the axial direction with a radial midpoint between the one end of the diaphragm in the axial direction and the other end of the diaphragm in the axial direction as a center in a section passing through the central axis.

Abstract: A rotary drive device in a mobile body includes a main wheel and a pair of drive assemblies opposing each other and each driving the main wheel. The main wheel includes driven rollers. One of the pair of drive assemblies includes a motor, a motor case, a drive force transmission, and driving rollers. The driving rollers are in the drive force transmission along a circumferential direction, and contact at least a portion of the driven rollers from one side of the rotary drive device of the axial direction. The drive force transmission rotates to transmit a drive force of the motor to the main wheel via the driving rollers. At least a portion of the motor case opposes at least a portion of the driving rollers in the axial direction.

Abstract: Drive disks are configured to rotate a main wheel by applying a frictional force thereto. Each of the drive disks includes a base and a plurality of rollers. The base includes a first sheet metal member and a second sheet metal member. The first sheet metal member includes a first central part and a plurality of first arm parts. The second sheet metal member includes a second central part and a plurality of second arm parts. Each of the rollers has a first end and a second end. Each of the first arm parts includes a first supporting part and a second supporting part. Each of the second arm parts includes a third supporting part and a fourth supporting part. The first supporting part and the second supporting part are inclined to each other. The third supporting part and the fourth supporting part are inclined to each other.

Abstract: A gear includes a tubular portion and a diaphragm portion. The diaphragm portion extends in a direction including a radial component from one axial end portion of the tubular portion. The portion includes a first portion and a second portion. The first portion is on one axial side of the portion. The second portion is on another axial side relative to the first portion. The second portion includes teeth protruding radially outward. A maximum value of a thickness of the diaphragm portion is equal to or less than twice a distance from radially outer ends of the teeth to a radially inner surface of the second portion, and a minimum value of a thickness of the first portion is equal to or less than half the maximum value of the thickness of the diaphragm portion.

Abstract: An annular body includes a base, a first resistance wire, a second resistance wire, a first terminal, and a second terminal. The base surrounds a central axis and expands in a direction intersecting the central axis. Resistance values of the first and second resistance wires change according to strain of the base. The first terminal is electrically connected to the end of the first resistance wire. The second terminal is electrically connected to an end of the second resistance wire. The first terminal is at a first position in the circumferential direction. The second terminal is at a second position in the circumferential direction. When viewed in the axial direction, the central angle defined by the first position, the central axis, and the second position is equal to or greater than about 90°.

Abstract: A device includes an external sensor to scan an environment so as to periodically output scan data, a storage to store an environmental map, and a location estimation device to match the sensor data against the environmental map read from the storage so as to estimate a location and an attitude of the vehicle. The location estimation device determines predicted values of a current location and a current estimation of the vehicle in accordance with a history of estimated locations and estimated attitudes of the vehicle, and performs the matching by using the predicted values.

Abstract: In an automated guided vehicle, a connection mechanism includes a connecting part and a movable part, and is connected to an object by the connecting part. When the connecting part is in a first state and the movable part is at a first position, an end portion on the other side in a first direction of the connecting part contacts a surface on one side in the first direction of the movable part or penetrates the movable part in the first direction to protrude toward the other side in the first direction with respect to the surface on one side in the first direction of the movable part. When the connecting part is in the first state and the movable part is at a second position, the movable part is away from the connecting part. A force applied to the movable part maintains the movable part at the first position.

Abstract: A management system manages travel of at least one vehicle, and includes a vehicle and a travel management apparatus. The vehicle includes motors, a drive unit to move the vehicle by controlling the motors, a first communication circuit, and a control circuit. The travel management apparatus includes a signal processing circuit to generate an nth command for causing the vehicle to move from an n (n: a positive integer)th location to an (n+1)th location and a second communication circuit. When the vehicle arrives in a region defined for the (n+1)th location while moving from the nth location toward the (n+1)th location, the vehicle transmits a notification of arrival-in-region to the travel management apparatus. Upon receiving the notification of arrival-in-region, the travel management apparatus generates an (n+1)th command for causing the vehicle to move from the (n+1)th location to an (n+2)th location, and transmits it to the vehicle.

Abstract: A strain wave gear speed reducer unit includes: a casing extending in the axial direction; an internal gear disposed to be rotatable relative to the casing and having internal teeth on the inner circumference; a flexible external gear disposed to the inside of the internal gear in the radial direction, an end of which is fixed to the casing on one side in the axial direction, and which has external teeth on the outer circumference for meshing with the internal teeth; a cam disposed to the inside of the external gear in the radial direction and deforming the external gear in the radial direction by rotating together with a rotating shaft of a motor unit; a connecting part formed integrally with the cam and connected to the rotating shaft on the inside of the external gear; and a support connected to the casing and rotatably supporting the connecting part.

Abstract: An automatic guided vehicle according to one aspect of the present invention moves a trolley including a trolley body, wheels attached to the trolley body, and a section to be connected which is provided on the lower surface of the trolley body. The automatic guided vehicle is provided with: a vehicle body; drive wheels attached to the vehicle body; and a connection mechanism which is connected to the trolley, wherein the connection mechanism includes a connecting section disposed on an upper side of the upper surface of the vehicle body so as to be movable horizontally in a first direction, and includes a drive apparatus which moves the connecting section in the first direction and connects the connecting section to the section to be connected.

Abstract: This speed reducer with an electric motor has: a hollow shaft; a casing fixed to the hollow shaft; a fixed part that is relatively stationary with respect to the casing; an electric motor; a speed reduction mechanism; an output part; and a torque sensor that is connected to the casing and the fixed part. The torque sensor has an elastically deformable strain body that has an annular outer ring and an annular inner ring and a plurality of strain sensors. The outer ring and the inner ring are respectively located at an end portion on the radial outside and the radial inside of the torque sensor and is connected to one of the casing and the fixed part. Each of the plurality of strain sensors is at least partially located in a radial direction between the outer ring and the inner ring.

Abstract: There is provided a management system for vehicles which can make it easier to introduce changes in the traveling path on the field. A management system 1 manages travel of a vehicle by using a travel management apparatus. The vehicle includes a plurality of driving wheels to be driven by a plurality of motors, a drive unit to rotate the driving wheels, a first communication circuit which receives data representing a traveling path from the travel management apparatus, and a control circuit which causes the vehicle to travel along the traveling path.

Abstract: A power unit comprises: a wave gear speed reducer, a rotary shaft extending in the axial direction; a rotor unit that rotates integrally with the rotary shaft; a stator unit disposed facing the rotor unit; and a motor casing to which the stator unit is secured. The motor casing has a second cover that covers the rotor unit and the stator unit from the other side in the axial direction. The rotary shaft extends toward the other side in the axial direction, penetrates the second cover, and is connected to a cam. The second cover has a support part that extends toward the other side in the axial direction, supports the rotary shaft in a rotatable manner, and is positioned in a flexible cylindrical part of an external gear.