Abstract: A robot controller capable of finding a mistaught path and avoiding dangers involved in a real motion of a robot without using an off-line simulation system. An operation program for confirming safety is played back with the robot control system arranged such that a simulation function is on, a real motion is off, and comparison processing is on. When a played-back path designated by each block is compared with a reference path using data on interpolation points, an interpolation point ordinal index i is incremented by “1” (K1), an interpolation point on a reference path Tref(i) is read (K2) and compared with a corresponding interpolation point on the played-back path T(i). An index of distance d(i) and a distance evaluation index &Dgr;d(i) are calculated (K3, K4), and tool-tip orientation difference indices f(i) to h(i) and orientation-evaluation indices &Dgr;f(i) to &Dgr;h(i) are calculated (K5, K6).

Abstract: Disclosed is an electric actuator comprising a feed nut member and a movable member for making displacement along a longitudinal direction of a frame by the aid of a rotary driving force transmitted by a ball screw shaft in accordance with a driving action of a rotary driving source, and guide blocks formed separately from the movable member and the feed nut member, for making displacement along the frame integrally with the movable member, wherein the movable member is detachably installed to the guide blocks.

Abstract: A bicycle with a power assisting function has an electric motor for adding part of propulsive forces to manual forces to assist in the manual forces, a battery for supplying electric energy to the electric motor, a treading force detecting circuit for detecting manual forces applied as propulsive forces, and a control circuit for controlling operation of the electric motor depending on the magnitude of detected manual forces. The electric motor is operable as an electric generator with extra manual forces for utilizing part of regenerated electric energy to charge the battery.

Abstract: A power transmission apparatus manipulates the transmission of power of the mechanical and/or electrical form. The power transmission apparatus is constructed integrating together a power-transmitting device and a transmission interaction redistributing mechanism. The interaction redistributing mechanism redistributes, or remaps, an optimized section of the operating speed range of the power-transmitting device onto the full operating speed range, including the stall speed, of the power transmission apparatus. Full operating speed range, including low speeds, is optimized. In a mechanical implementation of the apparatus, an epicyclic gear train is utilized as the redistributing mechanism. In an electromagnetic implementation of the apparatus, a rotary commutator is utilized as the redistributing mechanism and the power-transmitting device is an electromagnetic device. The mechanical implementation is capable of handling mechanical-to-mechanical mode of power transmission.

Abstract: An arrangement for operating a brake of a vehicle has a controllable operating electric motor and a conversion device for converting the rotational movement of the operating electric motor into a translational movement of one or several brake element(s) which are in an operative connection with the conversion device. At least one additional electric motor is provided which can be controlled separately of the operating electric motor and has at least one additional conversion device for converting the rotation of the at least one additional electric motor into a translational movement of the brake element(s) which is independent of the translational movement caused by the operating motor and its conversion device.

Abstract: A multi-function actuation apparatus includes an electromagnetic device and a rotatable member which rotates in response to activation of the electromagnetic device. The rotatable member provides a first actuation force to actuate a first function and activation of the electromagnetic device provides a second actuation force operable to actuate a second function. The multi-functional apparatus is preferably for use in a vehicle, such that the present invention provides the motive force to activate a plurality of powered vehicle functions including a first function such as a power window or window wiper while further actuating additional functions.

Abstract: A tricycle with an electric motor in which two rear wheels 4 and 4 are driven by not only an electric motor 5, but also pedals 6 with manpower. A rotational force of the pedals 6 is transmitted to drive shaft 9 via first bevel gears 8a and 8b and then transmitted to a one-way clutch 7 via second bevel gears 10a and 10b from the drive shaft 9. The output of the one-way clutch 7 is then transmitted to the two rear wheels 4 and 4. The electric current to the electric motor is a pulse current and its pulse width is controlled to be shorted in relation to a braking operation.

Abstract: An electric brake device includes a disc rotor which is rotatable together with a wheel of an automotive vehicle. An output rod is provided to press a friction pad onto the disc rotor so as to exert a braking force on the wheel. A brake motor is provided to generate a rotating force in response to an electric signal. A gear mechanism is provided to axially move the output rod relative to the disc rotor in accordance with the rotating force, such that the output rod is moved toward the disc rotor when the brake motor rotates in a forward direction, and the output rod is separated from the disc rotor when the brake motor rotates in a reverse direction. A load detection unit detects a load acting on an end of the output rod opposite to a position where the output rod presses the friction pad onto the disc rotor. A motor deceleration unit decreases the rate of rotation of the brake motor when the load detected by the load detection unit is above a reference level.

Abstract: A multi-functional apparatus employs an intermittent motion mechanism. An electromagnetic device selectively causes movement of the intermittent motion mechanism thereby moving a mechanical device coupled thereto. In another aspect of the present invention, a single electric motor selectively actuates two or three intermittent rotary motion mechanisms thereby causing separate mechanical devices coupled thereto to operate within an automotive vehicle.

Abstract: A multi-functional apparatus employs a power transmission mechanism for generating intermittent motion having a specific range of motion and angular velocity profile for selectively actuating a mechanical device operably coupled to the power transmission mechanism. An electromagnetic device selectively causes movement of the power transmission mechanism. In another aspect of the present invention, a single electric motor selectively actuates a plurality of intermittent rotary motion mechanisms thereby causing separate mechanical devices coupled thereto to operate within an automotive vehicle.

Abstract: An auxiliary system for a motor vehicle including at least two intermittently driven auxiliary devices, a single electric motor for driving the at least two auxiliary devices, a free wheel arrangement for operatively connecting the at least two auxiliary devices with the electric motor in such a way that one of the at least two auxiliary devices is, from time to time, not operatively connected with the electric motor, and a priority circuit for determining the priority order of actuation of the at least two auxiliary devices, when both devices need be actuated.

Abstract: Disclosed is a multi-functional apparatus having a single electromagnetic device to drive a multiple of electrically-actuated functions. The multi-functional apparatus has an armature shaft that selectively and alternatively activates a window wiper assembly and a flexible, elongated drive element such as a cable coupled to opposing ends of the armature shaft.

Abstract: A multi-functional apparatus employs an intermittent motion mechanism. An electromagnetic device selectively causes movement of the intermittent motion mechanism thereby moving a mechanical device coupled thereto. In another aspect of the present invention, a single electric motor selectively actuates two or three intermittent rotary motion mechanisms thereby causing separate mechanical devices coupled thereto to operate within an automotive vehicle.

Abstract: An electrically operated power steering apparatus has a housing, a pinion rotatably supported in the housing, the pinion being adapted to be connected to a steering shaft, a rack shaft axially movably disposed in the housing and held in mesh with the pinion, an electric motor disposed coaxially around the rack in the housing, and a ball-and-nut mechanism disposed on the rack shaft in the housing for transmitting a torque produced by the electric motor as an axial displacement to the rack shaft. The electric motor has a stator fixedly mounted in the housing and a rotor rotatably supported in the housing by a pair of bearings mounted on respective opposite ends of the rotor, the ball-and-nut mechanism being coupled to the rotor. A rack guide is disposed in the housing behind the pinion remotely from the ball-and-nut mechanism and held in sliding contact with the rack shaft. The rack shaft is axially slidably supported in the housing by the ball-and-nut mechanism and the rack guide.

Abstract: A mini-blind actuator has a motor and a housing that holds the motor and a dc battery. The rotor of the motor is coupled to the baton of the mini-blind for rotating the baton and thereby opening or closing the slats of the mini-blind. Alternatively, the rotor is coupled to the tilt rod of the blind to rotate the tilt rod and thereby open or close the slats of the mini-blind. A control signal generator generates a control signal for completing the electrical circuit between the battery and the motor. The control signal can be generated in response to a predetermined amount of daylight or in response to a user-generated remote command signal.

Abstract: There is disclosed an electronic display unit wherein a motor driving portion including a CPU and a driving IC controls a drive current to a motor (11) so that the motor (11) initially rotates at a low speed and subsequently rotates at a high speed to switch the speed of rotation of a case (3) from a low speed to a high speed, whereby operability is ensured if a rotation control switch is disposed on a front surface of the case (3), preventing conventionally increased size of the unit as well as alleviating user's feeling that rotation requires too much time.

Abstract: A mini-blind actuator has a motor and a housing that holds the motor and a dc battery. The rotor of the motor is coupled to the baton of the mini-blind for rotating the baton and thereby opening or closing the slats of the mini-blind. Alternatively, the rotor is coupled to the tilt rod of the blind to rotate the tilt rod and thereby open or close the slats of the mini-blind. A control signal generator generates a control signal for completing the electrical circuit between the battery and the motor. The control signal can be generated in response to a predetermined amount of daylight or in response to a user-generated remote command signal.

Abstract: An electrically operated driving shaft control device includes a casing having a driving shaft vertically journalled therein and a driving means for rotating it. A movable plate member has a first end with an upward projecting plate and a bearing seat with two first oval-shaped openings on both sides. A second plate provided on the movable plate has a first end distal from the projecting plate and a second end fixed in the casing. The second plate has a second oval-shaped opening and two threaded hole on both sides of the oval-shaped opening. The driving shaft has one end connected to the driving means and another end passing through the bearing seat of the movable plate member and the second oval-shaped opening of the second plate. A guiding roller is fixed to the driving shaft on the second plate. A rope encircles the guiding roller and connects to a blind. A means for breaking an electric circuit when a predetermined tension of the rope is reached during rotation of the driving shaft.

Abstract: A rotating drive device capable of exhibiting a variety of applications and/or diversities and being easily assembled. The rotating drive device includes a drive mechanism unit and a transmission mechanism unit operatively connected to the drive mechanism unit. The drive mechanism unit includes a casing, in which a power supply, a sensor and a motor are arranged. The drive mechanism unit also includes an output shaft which is operatively connected to the motor and through which the transmission mechanism unit is connected to the drive mechanism unit. The motor is electrically connected to the power supply and sensor so as to be actuated when the sensor detects an external stimulus. The transmission mechanism unit includes an input section operatively connected to the output shaft of the drive mechanism unit to transmit the drive force of the drive mechanism unit to the transmission mechanism unit and a plurality of output sections for transmitting the power of the transmission mechanism unit to the exterior.

Abstract: A hybrid power source includes a constant speed drive having an input coupled to a prime mover which develops variable speed motive power, an output driven at a substantially constant speed and a speed compensation link which transmits motive trim power at a magnitude determined by the speed of the prime mover. A first generator is coupled to the output of the constant speed drive and develops constant frequency AC power for AC loads. A second generator is coupled to the speed compensation link and is driven by the motive trim power such that the second generator develops power for DC loads and frequency insensitive loads wherein the power developed by the second generator is at a frequency which varies in accordance with the magnitude of the trim power.

Abstract: An oscillating device for oscillating an object includes a single motor mounted on a base, a support base mounted on the base for supporting an object and movable in first and second orthogonal horizontal directions, a first converter mechanism mounted on the base and coupled to the support base for converting rotation from the motor into a first linear motion in the first horizontal direction and applying the first linear motion in the support base, a second converter mechanism mounted on the base and coupled to the support base for converting rotation from the motor into a second linear motion in the second horizontal direction and applying the second linear motion to the support base, and a clutch mechanism mounted on the base and having two clutch plates with respective engaging surfaces thereof angularly displaced from each other for selectively transmitting the rotation from the motor to the second converter mechanism.

Abstract: An electrically compensated constant speed drive which is speed limited so that power flow through the speed compensation link is unidirectional includes a permanent magnet generator which is interconnected with a permanent magnet motor by a power converter. The permanent magnet generator and the permanent magnet motor are controlled by first and second independent control loops. The power converter includes an AC/DC converter coupled to electrical power windings of the permanent magnet generator, a filter coupled to the output of the AC/DC converter and an inverter coupled between the filter and electrical power windings of the permanent magnet motor. The permanent magnet generator, AC/DC converter, filter and the first control loop together develop a voltage on a DC bus.

Abstract: A bi-directional DC/DC converter includes a first switch coupled to a first input/output of the converter, a first input/output energy storage element coupled to the first input/output of the converter, a second input/output energy storage element coupled to a second input/output of the converter, an intermediate energy storage element coupled between the second input/output and the first switch and a second switch coupled to the intermediate energy storage element and to the first switch. A pulse width modulator operates the first switch between on and off states while the second switch is maintained in an off state to operate the converter as a buck converter, during which time the power is transferrred from the first input/output to the second input/output.

Abstract: An electrically-compensated constant speed drive according to the present invention includes a speed summer having first and second input shafts and an output shaft at which constant speed motive power is developed wherein the first input shaft is coupled to a prime mover output shaft. A speed-compensating permanent magnet machine includes a motive power shaft coupled to the second input shaft of the speed summer and electrical power windings. A control permanent magnet machine includes a motive power shaft coupled to either of the first or output shafts of the speed summer and also includes electrical power windings.

Abstract: An electrically-compensated constant speed drive according to the present invention includes a speed summer having first and second input shafts and an output shaft at which constant speed motive power is developed wherein the first input shaft is coupled to a prime mover output shaft. A speed-compensating permanent magnet machine includes a motive power shaft coupled to the second input shaft of the speed summer and electrical power windings. A control permanent magnet machine includes a motive power shaft coupled to the output shaft of the speed summer and also includes electrical power windings.

Abstract: A drive apparatus for elevators and the like utilizes a traction-type speed change gear to transmit power with little noise and vibrations from an electric drive motor to the drive sheave of an elevator. An abnormality detection device is provided to detect when slippage occurs in the speed change gear, and a control device activated by the abnormality detection device is provided to bring the elevator to a safe emergency stop when such slippage occurs.

Abstract: The drive shaft of a motor can be coupled to an output shaft by an electromagnetically activated friction clutch. The output shaft can be braked by an electromagnetically activated friction brake. The motor drive shaft rotates at constant speed. The rotary speed of the output shaft is regulated by negative-feedback action to maintain a selected value, by activating the clutch and brake alternately as necessary. The activating signals for the clutch and brake are pulse-width-modulated activating signals. The output shaft can be stopped in at least one predetermined angular position when commanded to do so. The movable parts of the brake and clutch are of minimal mass, and the speed-regulating system includes a speed feedback transducer system of very high resolution.

Abstract: A machine tool such as a multiple spindle automatic machine tool is provided with a motor acting through a slippable clutch on each of the multiple spindles to rotate the spindles and each spindle is provided with a brake to brake each spingle to a stop. A spindle rotational means is provided to rotate the spindle at a speed less than that established by full engagement of the clutch. This is accomplished by partial engagement of each the clutch and brake so that each slips. A spindle positioning means is further provided to position the spindle at a desired arcuate position. At such time the clutch is disengaged and the spindle is locked in rotational position. The clutch and brake are differentially controlled to control the relative average torque transmission therethrough to maintain a desired slow speed.

Abstract: An automaton comprising a fixed frame, a horizontal guiding member carried by the frame, a carrier movable along said guiding element, and a gripping member carried by the carriage and movable in a vertical direction relative to the carriage. There is provided a single motor fixed on the frame, transmission means for achieving from the motor either the horizontal movement of the carriage or the vertical movement of the gripping member, an electronic control device for the motor and transmission means, and means for measuring the angular displacement of the motor shaft connected to the electronic device.