Abstract: The present invention relates to: a posture control device for controlling the posture of a robot by means of a thruster; and a robot having the same. The posture control device, according to the present invention, comprises: a thruster for generating a propulsive force for supporting or hauling the load of a robot part; and a rotation mechanism installed between the robot part and the thruster so as to enable the robot part to rotate with respect to thruster or the thruster to rotate with respect to the robot part, wherein the rotation mechanism has at least two axes of rotation, wherein the axes of rotation respectively form a right angle. In addition, the robot, according to the present invention, comprises parts having the posture control device provided thereto, and may comprise: a first part and a second part having the posture control device provided thereto; and a bendable or extendable third part for connecting the first part and the second part.

Abstract: An externally toothed gear of a dual-type strain wave gearing is provided with first and second external teeth having different teeth numbers, and a gap formed between these teeth as a cutter clearance area for tooth cutters. The maximum width L1 of the gap is 0.1 to 0.3 times the width L of the externally toothed gear. The depth from the tooth top land of the first external teeth to the deepest part of the gap is 0.9 to 1.3 times the depth of the first external teeth, and the depth from the tooth top land of the second external teeth to the deepest part of the gap is 0.9 to 1.3 times the depth of the second external teeth. The tooth bottom fatigue strength of the externally toothed gear provided with differing numbers of first and second external teeth is increased.

Abstract: A gear mechanism including: a pair of housings that are combined in a positioned state by mating a cylindrical inner surface and a cylindrical outer surface centered on a first axis with each other; two first gears that are attached to one housing so as to be rotatable about the first axis and a second axis parallel to the first axis; and two second gears that are rotatably attached to the other housing, and that are respectively engaged with the two first gears in a state in which the pair of housings are combined. The first gear that is attached so as to be rotatable about the second axis and the second gear that is engaged with the first gear are arranged at positions where an inter-axial distance therebetween is changed by means of a relative rotation of the housings about the first axis.

Abstract: A method of developing a flex spline and circular gear tooth profile for a harmonic actuator is provided. The method includes defining circular gear and flex spline centroids based on gear ratio calculations, finding mid-points between the centroids of the circular gear and the centroids of the flex spline and transforming the mid-points into a mapping of the tooth profile for respective teeth of the circular gear and the flex spline.

Abstract: A horizontal articulated robot includes a support unit, a movable unit provided in the support unit, from which an end effector is detachable, and a control unit that controls the movable unit, wherein the control unit is provided in the support unit and the end effector is connected to the control unit.

Abstract: A six-gear automatic transmission device is provided for automobiles with a brushless control-by-wire centrifugal ball arm engagement. One brushless control-by-wire centrifugal ball arm engagement device is provided between each gear input gear and each gear driving gear; and by controlling the engagement and disengagement of the brushless control-by-wire centrifugal ball arm engagement device, the shifting control of the six-gear automatic transmission for automobile with a brushless control-by-wire centrifugal ball arm engagement device is performed. The technology provides advantages including compact structure, being capable of dynamic gear-shift, no mechanical or hydraulic gear-shift components and low operational energy consumption.

Abstract: A robot includes a robot main body including a base and a robot arm, a drive unit that drives the robot arm, and a wiring electrically connected to the drive unit, in which the robot arm includes a casing including a main body and a cover detachably connected to the main body, the drive unit includes a first pulley, a second pulley having a hollow hole, a belt connecting the first pulley and the second pulley, and a motor that generates a driving force for driving the robot arm and rotates the first pulley or the second pulley by the driving force, the wiring includes an insertion area inserted through the hollow hole of the second pulley and an intersection area intersecting with the belt as seen in a direction along a rotation axis of the second pulley.

Abstract: A motor driven electromechanical actuator assembly includes a motor assembly having a motor shaft and a gear assembly. The gear assembly includes a plurality of gears with a belt drive that couples the motor assembly to the actuator output shaft. The actuator assembly also includes a position sensor system configured to determine a rotational characteristic of the drive shaft.

Abstract: Robot sealing structure includes a shaft end face of a shaft of a reducer, an attachment surface of an arm member, bolts for fixing the shaft and the arm member to each other, and a seal member arranged between the shaft end face and the attachment surface, a hollow hole including a center axis line of the shaft is provided in the shaft end face, an input gear housing portion for housing an input gear, and a gear housing portion for housing a gear driven by the input gear are provided in a periphery of the hollow hole, the periphery of the hollow hole is provided with a protruding portion formed between the input gear housing portion and the gear housing portion, and a hole for temporarily attaching or fixing the seal member in the protruding portion is provided.

Abstract: A drive device for a hybrid-driven motor vehicle includes a primary drive, a secondary drive, and a variable speed gearbox. The primary and secondary drives are configured to drive the gearbox separately or jointly. The gearbox includes a first input shaft connectable to the primary drive, a second input shaft connectable to the secondary drive, an output shaft, and switching elements. In a first state of the gearbox, a rotational movement of a first fixed toothed wheel of a first intermediate shaft is synchronously coupled with a rotational movement of the output shaft by a first switching element. In a second state, a rotational movement of a first idler toothed wheel on the first input shaft is synchronously coupled with a rotational movement of a second idler toothed wheel on the first input shaft by a second switching element.

Abstract: A driving force distribution apparatus includes an orthogonal gear pair constituted by a pinion gear shaft and a ring gear member, a casing that houses the orthogonal gear pair, an intermediate rotational member coaxially rotatable relative to the ring gear member, a clutch member configured to couple the ring gear member and the intermediate rotational member to each other, and first and second driving force adjustment mechanisms configured to adjust a driving force to be transmitted from the intermediate rotational member to first and second output rotational members. The ring gear member has a ring gear portion and a tubular portion. At two positions between which the ring gear portion is interposed in an axial direction, the tubular portion) is rotatably supported by a pair of bearings.

Abstract: For bending a manipulator without excessive increase in a tensile force acting on a driving power transmitting member, a manipulator is provided with: an end effector; a driving unit; a guide member to which the end effector is attached at one end thereof and the driving unit is attached at the other end thereof; and a driving power transmitting members that transmit the driving power from the driving unit to the end effector, wherein the guide member includes a guide tube that has lumens, and an outer sheath that has a greater rigidity than the guide tube and that covers an outer circumference of the guide tube, and one end of the outer sheath is movable in a longitudinal direction with respect to the end effector or the driving unit.

Abstract: A power transmission mechanism equipped with a first shaft including a first double helical gear, a second shaft including a second double helical gear and a third double helical gear arranged in alignment with the second double helical gear in an axial direction, and a third shaft including a fourth double helical gear that meshes with the third double helical gear. The second double helical gear includes a pair of right and left tooth portions whose torsional directions are reverse to each other such that the left tooth portion and the right tooth portion are offset in phase from each other, and the third double helical gear includes a pair of right and left tooth portions whose torsional directions are reverse to each other such that the left tooth portion and the right tooth portion are identical in phase to each other.

Abstract: A robot is provided which has: a housing including a plurality of joints; a reduction gear placed in the joint, the reduction gear including a lubrication chamber where a gear mechanism for slowing down and transmitting an output of a motor and lubricant is sealed; and an air chamber placed inside the housing, the air chamber communicating with the lubrication chamber.

Abstract: A restraint mechanism for limiting the movement of the flexible external gear of a flat strain wave gearing in the axial direction has a first restraining member installed in a floating state in a first recess and a second restraining member installed in a floating state in a second recess. The restraining member is able to limit the movement of the flexible external gear in the axial direction to a range in which there are no difficulties during actual use. Moreover, compared with when movement of the flexible external gear is limited using members that are disposed at fixed positions, it is possible to reduce the sliding abrasion that occurs between the flexible external gear and the first and second restraining members.

Abstract: A gearing (1), in particular a strain wave gearing, including an elastic gear (2) having a flange (16), which flange is fastened to a housing component (7) of the gearing (1). A connecting assembly (8) for retaining the flange (16) on the housing component (7) includes a plurality of fastening points (14), wherein, outside of the fastening points (14), the connecting assembly (8) has axial play between the flange (16) and the housing component (7), with respect to the center axis (M) of the gear (2).

Abstract: In a rotation transmission mechanism that transmits the rotational driving force of a motor to a load-side member via a speed reducer, a strain wave gearing is used as the speed reducer, and the allowable load torque of members in the powertrain other than the strain wave gearing is greater than a predetermined upper-limit load torque. The allowable load torque of the strain wave gearing is dictated by the ratcheting torque, which is set so as not to exceed the upper-limit load torque. In an overload state, ratcheting is generated in the strain wave gearing, so that the strain wave gearing functions as a mechanical fuse. Other power transmission members can be protected from an overload state without adding a separate member such as a torque limiter.

Abstract: A cycloidal pin wheel harmonic transmission device includes camshaft, flexible bearing, flexible wheel, roller pins and rigid wheel. The flexible bearing is mounted on the camshaft with elliptical shape. The flexible wheel has inner ring cooperated with outer ring of the flexible bearing, and outer teeth surface contacted with each roller pin. The roller pins are evenly disposed inside semicircular groove of the rigid wheel. The flexible wheel is fixedly connected with inner ring and the rigid wheel is fixedly connected with outer ring of the main bearing. Both teeth height and root have cycloidal teeth profiles reduces the risk of breakage failure, possible to obtain larger engagement without deep engaging distance. Teeth width is large, used for the engagement, the surface specific pressure is small. It is possible to withstand large torque to reduce the amount of deformation of the flexible wheel, and to greatly improve the longevity.

Abstract: A manual transmission unit has one transmission input shaft, one transmission output shaft, a first intermediate shaft, a second intermediate shaft, a plurality of gear wheels, of which a first and a second drive gear wheel are arranged on the transmission input shaft and connectable in a rotationally fixed manner thereto, in particular in a permanently rotationally fixed manner thereto, and a plurality of torque transmission units for selective connection of additional gear wheels to at least one of the intermediate shafts. The first drive gear wheel intermeshes together with two intermediate wheels and the second drive gear wheel intermeshes together with two additional intermediate wheels. At least two, preferably at least three and more preferably at least four of the intermediate wheels are selectively connectible to the intermediate shafts for power transmission.

Abstract: A harmonic drive mechanism of a wave generator, including a first bearing set, an input shaft, a left end cover, a second bearing set, an output shaft, a key, a bolt assembly, a vibratory hydraulic wave generator assembly, a rigid internal gear sleeve and a flexible external gear. The input shaft which is rotatable is provided on the left end cover through the first bearing set. A part of the input shaft and the flexible external gear are located in the rigid internal gear sleeve. The output shaft which is rotatable is provided on the rigid internal gear sleeve through the second bearing set. An end of the output shaft is connected to the flexible external gear via a key. The vibratory hydraulic wave generator assembly includes a casing, a vibrating plate, a backing plate and a check valve which are located in the flexible external gear.