Abstract: A quaternion joint includes a first member, a second member rotatably connected to the first member through links, a plurality of first pulleys provided on the end face of the first member so that the first pulleys are able to swing, a plurality of second pulleys provided on the end face of the second member facing the end face of the first members so that the second pulleys correspond to the first pulleys and so that the second pulleys are able to swing, and a plurality of wires hung between the first pulleys and the second pulleys corresponding to the first pulleys. A rotation shaft of the first pulley is offset from a rotation shaft of the second pulley corresponding to the first pulley in a state in which the rotation shaft of the first pulley is rotated around a direction in which the wire is extended.

Abstract: In a method for designing a quaternion joint where a first member rotatably coupled to a second member through links, a distance hc between both ends of the link at an initial position of an operating angle of the link, a distance wc between ends of the adjacent links, and a distance ho required to secure a degree of freedom of the end of the link are set based on a constraint condition in which a distance between a point on an ellipse corresponding to the start operating angle of the link and a point at which a center point of the ellipse is shifted by the distance ho and a distance between a point on the ellipse corresponding to an end operating angle of the link and a point at which the center point of the ellipse is shifted by the distance ho are made equal to each other.

Abstract: The joint mechanism includes: a first joint portion; a second joint portion connected to the first joint portion via a connecting member so as to be relatively rotatable about an axis of the connecting member; a plurality of wires each having one end side arranged in a straight line and extending from the first joint portion toward the second joint portion, the other end side being attached to the second joint portion in a circumferential shape, and being pulled; and an offset member provided between the first joint portion and the second joint portion, the offset member being configured to offset one end side of the wire arranged in a straight line with respect to each other by passing the wire.

Abstract: A joint mechanism includes: a first link and a second link; a joint portion that rotatably connects the first link and the second link; a pulley provided on the joint portion; and a linear member that extends from one end on the first link side to the other end on the second link side, the linear member being wound around a pulley halfway through. The rotation center of the joint portion is offset with respect to the center of the pulley such that a change in a path length of the linear member when the joint portion is extended and bent is reduced.

Abstract: A conveyance system and a conveyance method capable of efficiently delivering/receiving containers between an AGV and a cart are provided. A conveyance system according to an aspect of the present disclosure includes an AGV configured to convey a plurality of containers, a cart configured to support the containers, and two platforms each of which includes a ramp on which the cart travels. The cart is further configured to, by a force applied from the AGV, climb up the ramp, and lift and support the containers placed on the AGV.

Abstract: A brake device includes a first member having holders, each of the holder configured to be in contact with a corresponding rolling body and hold the rolling body rotatably; a second member provided in contact with the rolling body and configured to rotate the rolling body in the holder according to a relative displacement with the first member; and a pressing mechanism configured to press the first member and the second member against each other. This makes it possible appropriately to set performance regardless of, for example, a projecting area of a surface of the first member, the surface being pressed by the second member.

Abstract: A disc brake device includes a disc rotor, which rotates around a rotation axis, friction pads opposed to friction surfaces of the disc rotor, a first member provided on a fixed part on a vehicle body side, a second member supported so as to be slidable relative to the first member by a slide mechanism, a third member, which holds the friction pads and is supported so as to be swingable relative to the second member around a swing axis in a radial direction of the disc rotor as a center of swing by a swing mechanism, and a return mechanism provided on the swing mechanism to apply force to the third member to restore the same to an initial position in a swing direction. Therefore, the disc brake device has an effect of inhibiting abnormal noise.

Abstract: A disc brake device is characterized by including a disc rotor that rotates around a rotational axis, a friction pad that opposes a friction surface of the disc rotor, a first member provided on a fixed portion on a vehicle body side, a second member that is slidably supported via a slide mechanism with respect to the first member, and a third member that holds the friction pad, and is pivotally supported, with a pivot axis along a radial direction of the disc rotor as a pivot center, via a pivot mechanism with respect to the second member.

Abstract: A disc brake device includes a disc rotor, which rotates around a rotation axis, friction pads opposed to friction surfaces of the disc rotor, a first member provided on a fixed part on a vehicle body side, a second member supported so as to be slidable relative to the first member by a slide mechanism, a third member, which holds the friction pads and is supported so as to be swingable relative to the second member around a swing axis in a radial direction of the disc rotor as a center of swing by a swing mechanism, and a return mechanism provided on the swing mechanism to apply force to the third member to restore the same to an initial position in a swing direction. Therefore, the disc brake device has an effect of inhibiting abnormal noise.

Abstract: A first member including a plurality of contacting portions and an absorbing portion capable of absorbing displacement of the contacting portions, a second member provided capable of relatively displacing with respect to the first member by contacting with the plurality of contacting portions, and a pressing mechanism configured to press the first member against the second member are provided. Therefore, for example, since the absorbing portion is capable of absorbing the displacement of the contacting portion, it is possible to make friction performance appropriate by stabilizing an area of a friction place.

Abstract: A brake device includes a first member having holders, each of the holder configured to be in contact with a corresponding rolling body and hold the rolling body rotatably; a second member provided in contact with the rolling body and configured to rotate the rolling body in the holder according to a relative displacement with the first member; and a pressing mechanism configured to press the first member and the second member against each other. This makes it possible appropriately to set performance regardless of, for example, a projecting area of a surface of the first member, the surface being pressed by the second member.