Abstract: Provided is a smaller torque limiter. A torque limiter (30) according to a representative embodiment of the present invention is characterized by including: a first rotary body (32) to be rotated by a drive source; a first friction body (33) locked to the first rotary body; a second friction body (34) stacked on the first friction body and to be rotated with rotation of the first friction body by a friction force between the first friction body and the second friction body; a second rotary body (35) locked to the second friction body; at least one disc spring (37) for biasing the first friction body and the second friction body in the stacking direction of the first friction body and the second friction body; and a fastening member (39) for applying a compressive force to the disc spring.

Abstract: A grasping device of the embodiment includes claw holding parts, a cam, pins, a motor, and a rail holding part. The claw holding parts are supported by rails in a slidable manner. The cam includes grooves or curved holes having a spiral shape provided around the rotation center and a hole provided at the rotation center. The pins each have one end engaged with the claw holding parts side and the other end engaged with the grooves or the curved holes of the cam. The motor includes a shaft to be fixed to the hole of the cam. The rail holding part is configured to hold the rails and engage a positioning jig with an end portion of the shaft at the side fixed to the cam and including a hole part with an inner peripheral surface where the outer peripheral surface of the jig is contactable.

Abstract: A grasping device of the embodiment includes claw holding parts, a cam and pins. The claw holding parts are supported by rails in a slidable manner. The cam includes grooves or curved holes having a spiral shape provided around a rotation center and is formed of a sintered material. The pins each have one end engaged with the claw holding parts side and the other end engaged with the grooves or the curved holes of the cam.

Abstract: Provided is a smaller torque limiter. A torque limiter (30) according to a representative embodiment of the present invention is characterized by including: a first rotary body (32) to be rotated by a drive source; a first friction body (33) locked to the first rotary body; a second friction body (34) stacked on the first friction body and to be rotated with rotation of the first friction body by a friction force between the first friction body and the second friction body; a second rotary body (35) locked to the second friction body; at least one disc spring (37) for biasing the first friction body and the second friction body in the stacking direction of the first friction body and the second friction body; and a fastening member (39) for applying a compressive force to the disc spring.