Abstract: A medical device 1 includes a main body driving unit (300) including a plurality of driving sources (M11 to M33), a base unit (200) including a coupling device (21) connected to the main body driving unit, a bendable unit (100) configured to be detachably attached to the base unit, and an operation unit (400) configured to be movable between a fixed position and a detachment position. The base unit includes a plurality of coupling units (21c11 to 21c33). The bendable unit includes a plurality of linear members (W11 to W33). A state where each of the plurality of linear members is fixed by each of the plurality of coupling units and a state where each of the plurality of linear members is unfixed from each of the plurality of coupling units are switched in an interlocked manner with movement of the operation unit.

Abstract: A cartridge includes a photosensitive drum having a rotational axis about which the photosensitive drum is rotatable, a developing roller having a rotational axis about which the developing roller is rotatable, and a casing rotatably supporting the photosensitive drum and the developing roller. The casing includes a groove open to outside of the casing, with the groove being defined by a first side surface, a second side surface, and a bottom surface between the first side surface and the second side surface. As seen in the direction of the rotational axis of the photosensitive drum, the rotational axis of the photosensitive drum and the groove are positioned along a line in an extended direction, with at least a portion of a first projected part being positioned on one side of the line and at least a portion of a second projected part being positioned on the other side of the line.

Abstract: One or more embodiments of a continuum robot may include a bendable body having linear members provided along a first pitch circle, and motors respectively having output shafts provided along a second pitch circle offset outside from the first pitch circle and being configured to respectively drive linear members to bend the bendable body; intermediate supporting shafts provided along a third pitch circle offset outside from the first pitch circle and offset inside from the second pitch circle; first connection members respectively connecting end portions of the linear members and the intermediate supporting shafts to each other; and second connection members respectively connecting the intermediate supporting shafts and the output shafts to each other and configured to convert rotation of each of the output shafts into rectilinear motion to cause each of the intermediate supporting shafts to rectilinearly move.

Abstract: A cartridge includes a photosensitive drum, a developing roller, and a casing rotatably supporting the photosensitive drum and the developing roller. The casing includes a groove open to outside of the casing. The casing also includes first and second projected parts that project from the first end portion of the casing in the direction of a rotational axis of the photosensitive drum and away from the photosensitive drum. As seen in the direction of the rotational axis of the photosensitive drum, the rotational axis of the photosensitive drum and the groove are positioned along a line in the extended direction, with the first projected part being positioned on one side of the line and the second projected part being positioned on the other side of the line. A first end of the groove and a second end of the groove are open such that the groove forms a channel in the casing along the extended direction.

Abstract: A photosensitive member unit detachably mountable to a main assembly of an image forming apparatus, the image forming apparatus including a first main assembly side helical gear portion and a second main assembly side helical gear portion which are coaxially rotatable, the photosensitive member unit includes a photosensitive member rotatable about a rotational axis thereof; a first unit side helical gear portion for meshing engagement with the first main assembly side helical gear portion; and a second unit side helical gear portion for meshing engagement with the second main assembly side helical gear portion, wherein a twisting direction of a tooth of the second unit side helical gear portion is the same as the twisting direction of a tooth of first unit side helical gear portion, wherein a helix angle of the tooth of the second unit side helical gear portion is larger than a helix angle of the tooth of the first unit side helical gear portion, and wherein the first unit side helical gear portion and the se

Abstract: A cartridge mountable to a printer, said printer including a coupling guide contactable to a coupling of the cartridge to guide the coupling member. A case of the cartridge is provided with a hole for exposing a free end portion of the coupling to an outside of the cartridge, and a retracted portion provided in downstream of the hole with respect to the mounting direction of the cartridge. When the cartridge is mounted to a main assembly of the printer, the coupling guide enters the retracted portion from which the coupling member has retracted.

Abstract: An image forming apparatus includes a photosensitive member; a charging member, an exposure member, a developing member, a transfer member, a moving member, a motor, a first drive transmitting portion, and a second drive transmitting portion. A rotation amount of the motor when the photosensitive member rotates from an exposure position to a transfer position during image formation is 2?n+? [rad] where n is a natural number, and ? is an increased rotation amount [rad] of the motor. The following relationship is satisfied: 0<?<??? where ? is an angle [rad] which is formed by a line connecting rotation centers of a first gear of the motor and a second gear of the first driving transmitting portion and a line connecting rotation centers of the first gear of the motor and a third gear of the second driving transmitting portion.

Abstract: A sheet conveyance apparatus includes a conveyance section, the conveyance section including a roller rotatable in a first rotation direction and a second rotation direction, a guide member configured to move between a first position and a second position, a drive source, a drive switching unit including an input unit, an output unit, and a switching unit, a drive interruption unit configured to transition between a transmission state and a non-transmission state. The roller is configured to rotate by the driving force output from the output unit of the drive switching unit while the guide member moves between the first position and the second position.

Abstract: An image forming apparatus includes a photosensitive member; a charging member, an exposure member, a developing member, a transfer member, a moving member, a motor, a first drive transmitting portion, and a second drive transmitting portion. A rotation amount of the motor when the photosensitive member rotates from an exposure position to a transfer position during image formation is 2?n+? [rad] where n is a natural number, and ? is an increased rotation amount [rad] of the motor. The following relationship is satisfied: 0<?<??? where ? is an angle [rad] which is formed by a line connecting rotation centers of a first gear of the motor and a second gear of the first driving transmitting portion and a line connecting rotation centers of the first gear of the motor and a third gear of the second driving transmitting portion.

Abstract: A cartridge mountable to a printer, said printer including a coupling guide contactable to a coupling of the cartridge to guide the coupling member. A case of the cartridge is provided with a hole for exposing a free end portion of the coupling to an outside of the cartridge, and a retracted portion provided in downstream of the hole with respect to the mounting direction of the cartridge. When the cartridge is mounted to a main assembly of the printer, the coupling guide enters the retracted portion from which the coupling member has retracted.

Abstract: A driving apparatus includes a drive output member configured to, when driving a member to be driven, receive a first force from the member to be driven in a direction in which the drive output member comes off a rotation shaft of a motor, and when driven by a drive transmission member, receive a second force from the drive transmission member in a direction opposite to that of the first force. The second force is equal to or greater than the first force.

Abstract: A cartridge mountable to a printer, said printer including a coupling guide contactable to a coupling of the cartridge to guide the coupling member. A case of the cartridge is provided with a hole for exposing a free end portion of the coupling to an outside of the cartridge, and a retracted portion provided in downstream of the hole with respect to the mounting direction of the cartridge. When the cartridge is mounted to a main assembly of the printer, the coupling guide enters the retracted portion from which the coupling member has retracted.

Abstract: A driving device includes a motor including a rotating shaft, a drive transmission member attached to the rotating shaft and including a contact portion, and a drive output member including a contacted portion with which the contact portion comes into contact, and configured to be rotated around the rotating shaft when the rotating shaft of the motor is driven and the drive transmission member is rotated together with the rotation shaft in a first direction. The drive transmission member further includes an engaging portion. The drive output member includes an engaged portion with which the engaging portion is to be engaged when the drive output member is rotated relative to the drive transmission member in a second direction opposite to the first direction. A driving force is transmittable to the drive output member whether the drive transmission member is rotated in the first direction or the second direction.

Abstract: An image forming apparatus includes a drive source, a driving gear provided on an output shaft of the drive source, a first gear engaging with the driving gear, a first drive transmission portion for transmitting a driving force from the first gear to an image bearing member, a second gear engaging with the driving gear, and a second drive transmission portion for transmitting a driving force from the second gear to a feeding portion. The first gear and the second gear are provided coaxially with each other. A positional relationship between the first gear and the second gear with respect to an axial direction is that the first gear is disposed closer to the drive source than the second gear is.

Abstract: A driving device for driving a driven member includes a driving source; a driving gear fixed to a rotation shaft of the driving source; at least one gear for transmitting rotational motion of the driving gear to the driven member; a rotation detection gear engaged with the at least one gear; a detector for detecting rotation of the rotation detection gear; and a controller for detecting an angular speed and a rotational phase of the rotation detection gear on the basis of information from the detector and for controlling the rotational speed of the driving source such that a rotation period of the rotation detection gear is a non-integer multiple of a rotation period of the driving gear.

Abstract: An image forming apparatus includes a drive source, a driving gear provided on an output shaft of the driving source, a first gear engaging with the driving gear, a first drive transmission portion for transmitting a driving force from the first gear to the image bearing member, a second gear engaging with the driving gear, and a second drive transmission portion for transmitting a driving force from the second gear to the feeding portion. The first gear and the second gear are provided coaxially with each other. A positional relationship between the first gear and the second gear with respect to an axial direction is that the first gear is disposed closer to the driving source than the second gear is.

Abstract: A driving device includes a motor including a rotating shaft, a drive transmission member attached to the rotating shaft and including a contact portion, and a drive output member including a contacted portion with which the contact portion comes into contact, and configured to be rotated around the rotating shaft when the rotating shaft of the motor is driven and the drive transmission member is rotated together with the rotation shaft in a first direction. The drive transmission member further includes an engaging portion. The drive output member includes an engaged portion with which the engaging portion is to be engaged when the drive output member is rotated relative to the drive transmission member in a second direction opposite to the first direction. A driving force is transmittable to the drive output member whether the drive transmission member is rotated in the first direction or the second direction.

Abstract: A driving device for driving a driving member includes a driving source; a driving gear fixed to a rotation shaft of the driving source; at least one gear for transmitting rotational motion of the driving gear to the driven member; a rotation detection gear engaged with the at least one gear; a detector for detecting rotation of the rotation detection gear; and a controller for detecting an angular speed and a rotational phase of the rotation detection gear on the basis of information from the detector and for controlling the rotational speed of the driving source such that a rotation period of the rotation detection gear is a non-integer multiple of a rotation period of the driving gear.

Abstract: A cartridge mountable to a printer, said printer including a coupling guide contactable to a coupling of the cartridge to guide the coupling member. A case of the cartridge is provided with a hole for exposing a free end portion of the coupling to an outside of the cartridge, and a retracted portion provided in downstream of the hole with respect to the mounting direction of the cartridge. When the cartridge is mounted to a main assembly of the printer, the coupling guide enters the retracted portion from which the coupling member has retracted.

Abstract: A cartridge mountable to a printer, said printer including a coupling guide contactable to a coupling of the cartridge to guide the coupling member. A case of the cartridge is provided with a hole for exposing a free end portion of the coupling to an outside of the cartridge, and a retracted portion provided in downstream of the hole with respect to the mounting direction of the cartridge. When the cartridge is mounted to a main assembly of the printer, the coupling guide enters the retracted portion from which the coupling member has retracted.