Abstract: A gear device includes an internal gear, a flexible external gear, and a wave generator. The wave generator includes an elliptical cam and a bearing. Grease is applied to the inner circumferential surface of the external gear. A groove is provided along a rotation axis on at least one of the inner circumferential surface of the external gear and an outer circumferential surface of the bearing.

Abstract: A gear device includes an internal gear, an external gear partially meshing with the internal gear, relatively rotating around a rotation axis to the internal gear, and having flexibility, and a wave generator being in contact with an inner circumferential surface of the external gear and moving a meshing position of the internal gear and the external gear in a circumferential direction about the rotation axis, wherein a virtual straight line as an extension of a tooth trace of the internal gear intersects with the rotation axis in a sectional view cut along a plane containing the rotation axis.

Abstract: A sheet processing machine stores sheets transported by a transport unit. The sheet processing machine includes: a reel on which a first end side of a tape is wound; a first stepper motor that rotates the reel about a rotation axis of the reel; a drum configured to wind up a second end side of the tape together with the sheets to form a winding body together with the tape and the sheets; a second stepper motor that rotates the drum about a rotation axis of the drum; and circuitry configured to change an interval between the sheets wound on the drum by controlling a rotation of the first stepper motor and the second stepper motor based on a parameter indicating a condition of the winding body.

Abstract: A gearing includes an internal gear, an external gear including external teeth placed around a rotation axis and meshing with the internal gear, a barrel part adjacent to the external teeth along the rotation axis, and an inner circumferential surface on an inner surface of the external teeth, and having flexibility and relatively rotating about the rotation axis to the internal gear, and a wave generator including a bearing having an outer ring in contact with the inner circumferential surface, an inner ring, and balls intervening between the outer ring and the inner ring, and moving a mesh position between the internal gear and the external gear about the rotation axis.

Abstract: A paper sheet handling machine (for example, banknote handling machine (10)) includes: a recognition unit (18) configured to recognize a paper sheet transported by a transport unit (16); a storage unit (for example, banknote storages (30) or banknote storage cassette (40)) configured to store the paper sheet recognized by the recognition unit (18); a memory unit (54) configured to store a maximum capacity for paper sheets in the storage unit; and a maximum capacity change unit (58) configured to change the maximum capacity stored in the memory unit (54), on the basis of information about a kind of the paper sheet recognized by the recognition unit (18).

Abstract: A gear device includes an internal gear, an external gear partially meshing with the internal gear, relatively rotating around a rotation axis to the internal gear, and having flexibility, and a wave generator being in contact with an inner circumferential surface of the external gear and moving a meshing position of the internal gear and the external gear in a circumferential direction about the rotation axis, wherein a virtual straight line as an extension of a tooth trace of the internal gear intersects with the rotation axis in a sectional view cut along a plane containing the rotation axis.

Abstract: A robot includes a first member, a second member provided to be capable of turning with respect to the first member, and a gear device configured to transmit a driving force from one side to the other side of the first member and the second member. The gear device includes an internal gear, an external gear having flexibility and configured to partially mesh with the internal gear, a wave generator configured to be in contact with the external gear and move a meshing position of the internal gear and the external gear in a circumferential direction, and lubricant disposed in at least one of a meshing section of the internal gear and the external gear and a portion where the external gear and the wave generator are in contact with each other. A last non-seizure load of the lubricant is 300 N or more.

Abstract: A robot includes a first member, a second member that is provided so as to be movable around the first member, and a gear device that transmits driving force from one of the first member and the second member to the other. The gear device includes an internal gear, a flexible external gear that has an external tooth portion, which partially meshes with the internal gear, and a body portion, which is linked to the external tooth portion in a direction of a rotation axis, and a wave generator that comes into contact with the external gear and moves a position where the internal gear and the external gear are meshed with each other in a circumferential direction. An exterior surface of the body portion has an oil-repellent portion of which oil repellency is higher than oil repellency of an exterior surface of the external tooth portion.

Abstract: A gear device includes an internal gear, an external gear having flexibility configured to partially mesh with the internal gear and relatively rotate around a rotation axis with respect to the internal gear, and a wave generator configured to come into contact with an inner circumferential surface of the external gear and move a meshing position of the internal gear and the external gear in a circumferential direction around the rotation axis. The wave generator includes a cam having a noncircular outer circumferential surface and a bearing disposed between the inner circumferential surface of the external gear and the outer circumferential surface of the cam. The bearing is an angular ball bearing.

Abstract: A paper sheet handling machine (for example, banknote handling machine (10)) includes: a recognition unit (18) configured to recognize a paper sheet transported by a transport unit (16); a storage unit (for example, banknote storages (30) or banknote storage cassette (40)) configured to store the paper sheet recognized by the recognition unit (18); a memory unit (54) configured to store a maximum capacity for paper sheets in the storage unit; and a maximum capacity change unit (58) configured to change the maximum capacity stored in the memory unit (54), on the basis of information about a kind of the paper sheet recognized by the recognition unit (18).

Abstract: A robot includes a first member, a second member that is provided so as to be movable around the first member, and a gear device that transmits driving force from one of the first member and the second member to the other. The gear device includes an internal gear, a flexible external gear that has an external tooth portion, which partially meshes with the internal gear, and a body portion, which is linked to the external tooth portion in a direction of a rotation axis, and a wave generator that comes into contact with the external gear and moves a position where the internal gear and the external gear are meshed with each other in a circumferential direction. An exterior surface of the body portion has an oil-repellent portion of which oil repellency is higher than oil repellency of an exterior surface of the external tooth portion.

Abstract: A robot includes a first member, a second member provided to be capable of turning with respect to the first member, and a gear device configured to transmit a driving force from one side to the other side of the first member and the second member. The gear device includes an internal gear, an external gear having flexibility and configured to partially mesh with the internal gear, a wave generator configured to be in contact with the external gear and move a meshing position of the internal gear and the external gear in a circumferential direction, and lubricant disposed in at least one of a meshing section of the internal gear and the external gear and a portion where the external gear and the wave generator are in contact with each other. A last non-seizure load of the lubricant is 300 N or more.

Abstract: A reduction gear is a reduction gear including a plurality of the inner pins provided in a gear. The inner pin includes a core portion and an outer tube portion mounted on the core portion in an insertion manner, and an elastic modulus of the outer tube portion is less than an elastic modulus of the core portion.

Abstract: A banknote handling apparatus includes: a first winding storage unit; a second storage unit; a transport unit; a recognition unit; and a control unit. The first storage unit stores the banknotes, while providing a mark associated with inventory amount information of the first storage unit. To perform a reconciliation process for the first storage unit, the control unit allows some of the banknotes stored in the first storage unit to be fed from the first storage unit, based on the mark, for recognition by the recognition unit, and determines an inventory amount of the first storage unit based on a result of the recognition and the inventory amount information associated with the mark.

Abstract: Through holes are formed in a revolving gear which revolves while being engaged with a ring gear, and penetration pins are inserted in the through holes. An elastic member having a circular ring shape, which is formed so that an inner diameter thereof can move with respect to an outer diameter thereof, is mounted to either an inner circumferential surface of the through hole or an outer circumferential surface of the penetration pin. Thus, the through hole and the penetration pin do not interfere with each other, and thus, it is possible to set a small clearance between the through hole and the penetration pin to such a degree, while preventing a speed reducer from being in a locked state due to interference. As a result, it is possible to suppress a backlash between the through hole and the penetration pin.

Abstract: A banknote handling apparatus includes: a first winding storage unit; a second storage unit; a transport unit; a recognition unit; and a control unit. The first storage unit stores the banknotes, while providing a mark associated with inventory amount information of the first storage unit. To perform a reconciliation process for the first storage unit, the control unit allows some of the banknotes stored in the first storage unit to be fed from the first storage unit, based on the mark, for recognition by the recognition unit, and determines an inventory amount of the first storage unit based on a result of the recognition and the inventory amount information associated with the mark.

Abstract: A reduction gear includes an outer circumference internally toothed gear having first teeth; and an inner circumference externally toothed gear having a second teeth. The reduction gear relatively rotates while the first teeth and the second teeth engage each other. At least one of the first and second teeth has an elastic structure inside the tooth so that the tooth is elastically deformable.

Abstract: Through holes are formed in a revolving gear which revolves while being engaged with a ring gear, and penetration pins are inserted in the through holes. An elastic member having a circular ring shape, which is formed so that an inner diameter thereof can move with respect to an outer diameter thereof, is mounted to either an inner circumferential surface of the through hole or an outer circumferential surface of the penetration pin. Thus, the through hole and the penetration pin do not interfere with each other, and thus, it is possible to set a small clearance between the through hole and the penetration pin to such a degree, while preventing a speed reducer from being in a locked state due to interference. As a result, it is possible to suppress a backlash between the through hole and the penetration pin.