Abstract: The present invention provides an aircraft including: a main wing; and a flight control surface that is deployed from the main wing in a first direction and in a second direction different from the first direction. In the aircraft, an end surface of the flight control surface facing the main wing when the flight control surface is not deployed is inclined with respect to the first direction or the second direction on at least one side of a longitudinal direction of the flight control surface, and a portion of the main wing facing the end surface is also inclined with respect to the first direction or the second direction in accordance with the end surface.

Abstract: The flap deploying device for a flap disposed at a leading edge or a trailing edge of a main wing of the aircraft, the deploying device including: a drive source; a moving mechanism with a moving body advancing and retracting by power of the drive source; a carriage mechanism that carries advancing and retracting motion of the moving body to the flap so as to deploy the flap between a retracted position and a deployed position; and a rail that guides the carriage mechanism. Since the moving mechanism is arranged lateral to the rail in the wingspan direction of the main wing, the dimension of the wing in a thickness direction can be reduced at least by a dimension corresponding to the moving mechanism. Therefore, the wing can be made thinner, or the projecting height of a flap track fairing can be reduced.

Abstract: The present invention provides an aircraft including: a main wing; and a flight control surface that is deployed from the main wing in a first direction and in a second direction different from the first direction. In the aircraft, an end surface of the flight control surface facing the main wing when the flight control surface is not deployed is inclined with respect to the first direction or the second direction on at least one side of a longitudinal direction of the flight control surface, and a portion of the main wing facing the end surface is also inclined with respect to the first direction or the second direction in accordance with the end surface.

Abstract: The flap deploying device deploys a flap provided at a leading edge or a trailing edge of a main wing of the aircraft, the deploying device including: a drive source; a moving mechanism with a moving body advancing and retracting by power of the drive source; a carriage mechanism that carries advancing and retracting motion of the moving body to the flap so as to deploy the flap between a retracted position and a deployed position; and a rail that guides the carriage mechanism. Since the moving mechanism is arranged lateral to the rail in the wingspan direction of the main wing, the dimension of the wing in a thickness direction can be reduced at least by a dimension corresponding to the moving mechanism. Therefore, the wing can be made thinner, or the projecting height of a flap track fearing can be reduced.

Abstract: An actuator is reduced in weight without impairing a walking assist function, and this reduces the inertial moment of a leg link. A drive crank arm on the output shaft of the actuator and a driven crank arm fixed to a second link portion so as to be concentric to the joint shaft of a third joint portion are connected to each other via a connection link. The connection link is placed so that a line connecting a pivot portion at which the drive crank arm is pivotally mounted and a pivot portion at which the driven crank arm is pivotally mounted obliquely crosses a line connecting the output shaft of the actuator and the joint shaft of the third joint portion.

Abstract: A joint structure of a robot for moving an assembly 51 to be connected to a robot link with respect to the robot link, the joint structure includes a first motor 10 for causing the assembly a longitudinal swing motion, a second motor 20 for causing the assembly a lateral swing motion, and a third motor 30 for causing the assembly a rotary motion, wherein the first motor 10 and the second motor 20 are disposed so that the output shaft of the first motor 10 and the output shaft of the second motor 20 are in parallel with each other and are orthogonal to the robot link, and the third motor 30 is disposed so that the output shaft of the third motor 30 is shifted with respect to the central axis of the rotary motion of the assembly 51.

Abstract: An actuator (91) is reduced in weight without impairing a walking assist function, and this reduces the inertial moment of a leg link (3). A drive crank arm (92) on the output shaft of the actuator (91) and a driven crank arm (93) fixed to a second link portion (7) so as to be concentric to the joint shaft of a third joint portion (8) are connected to each other via a connection link (94). The connection link (94) is placed so that a line connecting a pivot portion (94a) at which the drive crank arm (92) is pivotally mounted and a pivot portion (94b) at which the driven crank arm (93) is pivotally mounted obliquely crosses a line connecting the output shaft of the actuator (91) and the joint shaft of the third joint portion (8).

Abstract: In a robot of an elbow joint of a humanoid robot, a first main link and a second main link are connected through a first movable link and a second movable link, and the two movable links are arranged to cross. Specifically, in a quadrangle whose apices are formed by rotation axes A, B, C and D, when assuming that rotation axes diagonally opposed to each other are A and C, and B and D, the rotation axes A and C are connected through the first movable link and the rotation axes B and D are connected through the second movable link in such a manner that the first and second movable links are disposed to cross, and that the rotation axis A is driven by the actuator to drive the first movable link, such that the first and second main links are displaced relative to each other. In addition, the first movable link is rotatably connected to a first plate and a second plate through the rotation axis A, while the second movable link is rotatably connected to the first plate through the rotation axis B.

Abstract: A joint structure of a robot for moving an assembly 51 to be connected to a robot link with respect to the robot link, the joint structure includes a first motor 10 for causing the assembly a longitudinal swing motion, a second motor 20 for causing the assembly a lateral swing motion, and a third motor 30 for causing the assembly a rotary motion, wherein the first motor 10 and the second motor 20 are disposed so that the output shaft of the first motor 10 and the output shaft of the second motor 20 are in parallel with each other and are orthogonal to the robot link, and the third motor 30 is disposed so that the output shaft of the third motor 30 is shifted with respect to the central axis of the rotary motion of the assembly 51.

Abstract: In a robot joint structure, a first main link (42) and a second main link (44) are connected through two movable links including a first movable link (70) and a second movable link (72), and the two movable links are arranged to cross. With this, it becomes possible to increase the overall driven angle of the joint (36) relative to the input, expand the range of motion of the joint in the bending direction, and also raise the critical value of the driven speed (rotational speed).