Abstract: A steady state transmission ratio Base i is computed from a vehicle speed VPS and a throttle opening TVO (S1). An output shaft revolution speed No of the transmission and a current transmission ratio i are detected (S2, S3). A coefficient TTINR is computed from a difference or a ratio or the like between the steady state transmission ratio Base i and the current transmission ratio i (S4). Then, from the current transmission ratio i, the output shaft revolution speed No and the coefficient TTINR, a shift speed SV=TTINR/(IE.times.i.times.No) is computed (S5). Then a shift control is performed in accordance with the shift speed SV so as to approach to the steady state transmission ratio Base i (S6.about.S9). Thus, the shift speed during shifting in a continuously variable transmission is controlled in consideration of inertia torque.

Abstract: Piston rods are coupled to respective pistons movably disposed respective cylinder chambers defined in a cylinder body. The piston rods have distal ends connected to an end plate mounted on a slide table which is mounted for movement along a guide rail. When the piston rods are displaced by the pistons, the slide table is also displaced axially of the cylinder body. When the slide table is positioned at either end of its stroke, a load is applied by the weight of a workpiece supported on the slide table and the weight of the slide table itself to the cylinder body through the guide rail. The slide table is thus prevented from being unduly flexed under the load. The length of the slide table can be set to a desired length irrespective of an increase in the displacement of the slide table. Even if the displacement of the slide table is increased, the slide table is not flexed and hence remains highly rigid against flexure.

Abstract: A linear actuator has an actuator body having a through hole defined axially therein and an opening defined in an upper surface thereof, a pair of end blocks, a slide table reciprocally movable in the directions indicated by the arrows X, Y, a pair of cylindrical members coupled to the end blocks, respectively, and having respective passages communicating with fluid outlet/inlet ports, respectively, defined in the actuator body, a joint member movable in unison with the slide table, a pair of cover members held in surface-to-surface contact with the joint member in confronting relation to each other and hermetically surrounding outer circumferential surfaces of the cylindrical members, for sliding displacement in unison with the slide table, and a pair of pressure chambers defined by the cylindrical members and the cover members and closed by the cover members, the pressure chambers communicating with passages in the cylindrical members.

Abstract: A linear actuator has a cylinder body having a slot defined therein, a slide table, a joint connected substantially perpendicularly to a lower surface of the slide table, a pair of pistons slidably disposed in a through hole defined in the cylinder body and defining respective cylinder chambers in the through hole, for displacing the joint in response to a fluid under pressure supplied to one of the cylinder chambers, a guide projecting from a lower surface of the slide table, a pair of spaced guide blocks projecting from an upper surface of the cylinder body, and a plurality of balls rollingly interposed between the guide and the guide blocks.

Abstract: In a slide actuator, a central guide rail having V-shaped grooves defined therein and opened at 90 degree angles, is mounted on a cylinder body. A slide table is brought into engagement with the guide rail. Guide members having V-shaped grooves defined therein are provided inside the slide table so that they are opposed to the grooves defined in the guide rail. Cylindrical roller bearings are alternately fitted at inclinations of 90.degree. in their corresponding channels defined by the opposed grooves. Thus, when the roller bearings are rolled, the slide table is displaced with higher accuracy and a load supported by the slide table is transmitted to the guide rail from the roller bearings.

Abstract: A tool fastening apparatus for industrial robots comprises a coupling unit attached to the arm of a robot and a coupling unit attached to a tool to be used with the robot. When the two coupling units are joined together, their relative position can be easily and accurately fixed by means of positioning couplings comprising ball rings carrying a set of annularly arranged balls slightly sticking out from the plane of contact between the two coupling units. Accurate positioning is achieved by bringing the balls on the two ball rings into engagement, which, in turn, is achieved by fitting each ball on one ball ring into between two adjoining balls on the other ball ring.

Abstract: A double-walled tube assembly has an elongate inner tube of thermoplastic resin, and an elongate extruded outer tube of thermoplastic resin including a plurality of ribs having a constant height longitudinally of the outer tube and extending over the entire length of the outer tube, the ribs projecting toward the center of the outer tube. The ribs have distal ends fused to the outer perpiheral surface of the inner tube over the entire length of the inner and outer tubes. The rib width is from 0.5 to 1.5 mm. To continuously manufacture the double-walled tube assembly, the pre-molded inner tube is fed to an extrusion molding machine having a cross-head die, and thermoplastic resin is extruded from the cross-head die into an elongate outer tube around the inner tube.

Abstract: A tube joint for connecting a multi-walled tube assembly, typically a double-walled tube assembly, including a plurality of tubes defining a plurality of fluid passages to an object includes a joint body having a hole for inserting the tube assembly therein and as many passages as the number of the fluid passages. A tube connector mechanism is provided for engaging the tube assembly. A coupling has a rod for being fitted into the tube assembly and a passage for communicating the tube assembly with one of the passages of the joint body. The rod has on a distal end thereof a substantially spherical projection projecting radially outwardly for being fitted in an inner surface of the tube assembly to connect the tube assembly to the coupling. The inner surface of the tube assembly and the rod are slidable with respect to each other to prevent damage to the tube assembly when it is connected to and disconnected from the tube joint.

Abstract: An actuator driving system for driving a plurality of actuators operable by a fluid under pressure includes a plurality of tube joints connected respectively to the actuators for being coupled with a plurality of double-walled tubes each having a plurality of passages. Each of the tube joints includes a base member having passages communicating with respective fluid ports of one of the actuators and mounted on said one actuator, and a body member having a first cylindrical body mounted on the base member and a second cylindrical body having a hole for insertion of one of the double-walled tubes therein, to allow the passages of said one double-walled tube to communicate respectively with the passages of the base member, the first cylindrical body being angularly movable with respect to the base member.