An annular body includes a base, a first resistance wire, a second resistance wire, a first terminal, and a second terminal. The base surrounds a central axis and expands in a direction intersecting the central axis. Resistance values of the first and second resistance wires change according to strain of the base. The first terminal is electrically connected to the end of the first resistance wire. The second terminal is electrically connected to an end of the second resistance wire. The first terminal is at a first position in the circumferential direction. The second terminal is at a second position in the circumferential direction. When viewed in the axial direction, the central angle defined by the first position, the central axis, and the second position is equal to or greater than about 90°.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
A gear includes a tubular portion and a diaphragm portion. The diaphragm portion extends in a direction including a radial component from one axial end portion of the tubular portion. The portion includes a first portion and a second portion. The first portion is on one axial side of the portion. The second portion is on another axial side relative to the first portion. The second portion includes teeth protruding radially outward. A maximum value of a thickness of the diaphragm portion is equal to or less than twice a distance from radially outer ends of the teeth to a radially inner surface of the second portion, and a minimum value of a thickness of the first portion is equal to or less than half the maximum value of the thickness of the diaphragm portion.
An annular body includes a base portion and a resistance wire located in the base portion and including first and second resistance wire portions. The first resistance wire portion includes first regions arranged at intervals in the circumferential direction and each including a region in which a first portion extending in a direction including components in both the radial direction and the circumferential direction is repeatedly provided in the circumferential direction. The second resistance wire portion includes the second regions arranged at intervals in the circumferential direction and each including a region in which a second portion extending in a direction including components in both the radial direction and the circumferential direction is repeatedly arranged in the circumferential direction.
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
B25J 9/10 - Programme-controlled manipulators characterised by positioning means for manipulator elements
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G01L 5/22 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring the force applied to control members, e.g. control members of vehicles, triggers
An external gear includes a body, external teeth, a diaphragm, and a strain gauge. The diaphragm extends in a direction intersecting with an axial direction on another side in of the body the axial direction. The strain gauge is on at least one of a surface on one side of the diaphragm in the axial direction and a surface on another side of the diaphragm in the axial direction. The strain gauge is only in a region that is about a half or less of a radial length from one end of the diaphragm in the axial direction to the other end of the diaphragm in the axial direction with a radial midpoint between the one end of the diaphragm in the axial direction and the other end of the diaphragm in the axial direction as a center in a section passing through the central axis.
Reduction gears being machine elements not for land vehicles; Reduction gears, other than for land vehicles; Speed change gears being parts of machines, other than for land vehicles; Transmissions for machines being machine elements not for land vehicles; Machine elements, not for land vehicles, namely, gear housings, axles, bearings and bushings; Parts of non-electric prime movers being engine parts, namely, cam protectors, camshafts, particulate filters
Reduction gears being machine elements not for land vehicles; reduction gears, other than for land vehicles; speed change gears, other than for land vehicles; transmissions for machines, machine elements not for land vehicles; machine elements, not for land vehicles; parts of non-electric prime movers.
A sensor includes a base, and first and second resistance lines. The base extends in a direction intersecting with a central axis. The first resistance lines are arrayed in a circumferential direction on a surface of the base. The second resistance lines are arranged concentrically with the first resistance lines and between the first resistance lines in the circumferential direction on the surface of the base. In the first resistance lines, the number of regions of the resistance line along the circumferential direction is one or less, and the number of regions of the resistance line along a radial direction is one or less. The sensor is able to provide improved detection accuracy.
G01L 1/22 - Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluidsMeasuring force or stress, in general by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
G01B 7/16 - Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
Drive disks are configured to rotate a main wheel by applying a frictional force thereto. Each of the drive disks includes a base and a plurality of rollers. The base includes a first sheet metal member and a second sheet metal member. The first sheet metal member includes a first central part and a plurality of first arm parts. The second sheet metal member includes a second central part and a plurality of second arm parts. Each of the rollers has a first end and a second end. Each of the first arm parts includes a first supporting part and a second supporting part. Each of the second arm parts includes a third supporting part and a fourth supporting part. The first supporting part and the second supporting part are inclined to each other. The third supporting part and the fourth supporting part are inclined to each other.
This drive control system comprises a motor, a reduction device, and a control unit. The motor includes a stator having an excitation coil, and a rotor having a magnetic member which rotates centered on an axis of rotation with respect to the stator. The reduction device has a gear mechanism to which a lubricating material is added, and can increase the rotation power output from the motor in accordance with the reduction ratio. The control unit varies an integration gain in accordance with the temperature of the lubricating material to perform PID control of the driving of the motor.
A rotary drive device in a mobile body includes a main wheel and a pair of drive assemblies opposing each other and each driving the main wheel. The main wheel includes driven rollers. One of the pair of drive assemblies includes a motor, a motor case, a drive force transmission, and driving rollers. The driving rollers are in the drive force transmission along a circumferential direction, and contact at least a portion of the driven rollers from one side of the rotary drive device of the axial direction. The drive force transmission rotates to transmit a drive force of the motor to the main wheel via the driving rollers. At least a portion of the motor case opposes at least a portion of the driving rollers in the axial direction.
A rotary drive device includes a pair of drive force transmissions, a pair of decelerators, a pair of carriers, and at least one coupler. Driving rollers are included in the pair of drive force transmissions. Driving rollers transmit drive force to a main wheel. The main wheel includes driven rollers. The pair of drive force transmissions are rotatable about a rotation axis. The pair of carriers accommodate at least a portion of the decelerators. The pair of carriers oppose each other in an axial direction along the rotation axis. The pair of carriers include a first carrier and a second carrier that are directly or indirectly coupled by the at least one coupler.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
A drive force transmission member (110) has a hub (21), and a roller placement portion (31). The roller placement portion (31) has a plurality of placement portions (33), and a plurality of wall portions (35). Each placement portion (33) is open toward a first direction (D1). A drive roller (120) is disposed in the placement portion (33). Each wall portion (35) is located between the placement portion (33) and placement portion (33) adjacent each other in a circumferential direction (CD). The wall portion (35) has a first shaft support portion (41), and a second shaft support portion (42). The first shaft support portion (41) and the second shaft support portion (42) are recessed toward a second direction (D2), and are open toward the first direction (D1). Each placement portion (33) has a placement space SP in which a part of the drive roller (120) is disposed. The first shaft support portions (41) and the second shaft support portions (42) of the wall portions (35) connect the placement space (SP) and placement space (SP) adjacent to each other in the circumferential direction (CP).
F16H 13/08 - Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
A shaft-holding member (BH) has a body part (90a). The body part (90a) has a first holding part (91) and a second holding part (92). The first holding part (91) has a first inner wall surface (91a) and an outer wall surface (91b). The second holding part (92) has a second inner wall surface (92a), a first surface (92b), and a second surface (92c). The first surface (92b) has a first long-distance part (92b1) for which the distance from a center axis line is greater than the distance from the center axis line of one end (92b2) in the circumferential direction of the first surface (92b). The second surface (92c) has a second long-distance part (92c1) for which the distance from the center axis line is greater than the distance from the center axis line of one end (92c2) in the circumferential direction of the second surface (92c). The one end (92b2) of the first surface (92b) and the first long-distance part (92b1), and the one end (92c2) of the second surface (92c) and the second long-distance part (92c1) can each contact a shaft support part 41.
A device includes an external sensor to scan an environment so as to periodically output scan data, a storage to store an environmental map, and a location estimation device to match the sensor data against the environmental map read from the storage so as to estimate a location and an attitude of the vehicle. The location estimation device determines predicted values of a current location and a current estimation of the vehicle in accordance with a history of estimated locations and estimated attitudes of the vehicle, and performs the matching by using the predicted values.
This torque detection sensor comprises a first resistance wire pattern and a second resistance wire pattern. The first resistance wire pattern is an arc-shape or ring-shape pattern in which resistance wires, inclined to one side in the circumferential direction from the radial direction of a circular body, are arranged in the circumferential direction. The second resistance wire pattern is an arc-shape or ring-shape pattern in which resistance wires, inclined to the other side in the circumferential direction from the radial direction of a circular body, are arranged in the circumferential direction. The first resistance wire and the second resistance wire are arranged in non-overlapping positions. For that reason, it is possible to configure these resistance wires in a single layer. Consequently, it is possible to achieve a low-cost and thin torque detection sensor for a round body.
G01L 1/22 - Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluidsMeasuring force or stress, in general by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
G01L 3/10 - Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
G01L 3/14 - Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
G01L 5/16 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
This wave gear device has an input part, a wave generator, a flexible externally toothed gear, and a rigid internally toothed gear. The input part and the wave generator rotate at a first speed before reduction. The flexible externally toothed gear has a flexible cylindrical part. A plurality of external teeth are provided to the outer peripheral surface of the cylindrical part. The rigid internally toothed gear is positioned on the diametrically outer side of the cylindrical part. A plurality of internal teeth are provided to the inner peripheral surface of the rigid internally toothed gear. Some of the plurality of external teeth mesh with the internal teeth due to being pushed by the wave generator. The meshing positions of the internal teeth and external teeth change circumferentially at the first speed along with the rotation of the wave generator. As a result, due to a difference between the number of internal teeth and the number of external teeth, the flexible externally toothed gear rotates at a second speed relative to the rigid internally toothed gear after reduction. The cylindrical part, at least in the meshing positions, gradually increases in diameter toward one side in the axial direction. An annular elastic ring is provided between the cylindrical part and the wave generator.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
A conveyance system 1, provided with a plurality of conveyance carts 2 and a control device 5. The plurality of conveyance carts 2 convey, in coordination, a single conveyed object M. The control device 5 controls the plurality of conveyance carts 2. Each of the plurality of conveyance carts 2 is provided with a support stand 23, a sensor unit 24, a processing unit 28, and a transmission unit 26. The support stand 23 supports the conveyed object M. The sensor unit 24 detects an external force acting on the conveyed object M. The processing unit 28 generates, on the basis of the output of the sensor unit 24, external force information indicating the direction and/or the size of the external force. The transmission unit 26 transmits the external force information to the control device 5. The control device 5 is provided with a reception unit 52 and a processing unit 54. The reception unit 52 receives the external force information from each of the plurality of conveyance carts 2. The processing unit 54 determines, on the basis of the external force information, whether or not the conveyed object M has come into contact with an obstacle.
This drive device comprises: a rigid internal gear, a flexible external gear, a non-circular cam, a stator, and a rotor. The rotor has a rotary shaft, a disc part, and a magnet. The rotary shaft of the rotor is inserted into a through-hole of the stator. The disc part of the rotor is sandwiched between one side of the cam in an axial direction and the other side of the rotary shaft in the axial direction, and is coupled to the cam and the rotary shaft. The magnet is fixed to a portion of the disc part. A meshing part between an internal teeth of the rigid internal gear and an external teeth of the flexible external gear is opposite to a plate surface on the other side of the disc part in the axial direction with a space interposed therebetween in the axial direction.
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
H02K 16/02 - Machines with one stator and two rotors
This position measurement device 16 is installed in a moving body 100 and measures the position of an object BJ. The position measurement device 16 comprises a detection unit 169, a through-passage part 160 and a fluid delivery part 164. The detection unit 169 detects light or sound coming from the object BJ. The light or sound passes through the through-passage part 160 before being detected by the detection unit 169. The fluid delivery part 164 delivers a fluid B towards passages PS1, PS2 for the light or sound. The passages PS1, PS2 are located outside the outer surface 160a of the through-passage part 160.
A conveyance vehicle 100 travels on a floor surface. The conveyance vehicle 100 is provided with a vehicle body 1, a first conveyor mechanism 3, and a second conveyor mechanism 5. The first conveyor mechanism 3 is mounted on the vehicle body 1 and moves an object along a first direction D1. The second conveyor mechanism 5 is mounted on the vehicle body 1 and moves an object along a second direction D2. The first direction D1 and the second direction D2 intersect with each other.
B65G 47/52 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices
B60P 1/36 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using endless chains or belts thereon
29.
COIL POSITION ADJUSTING MECHANISM AND CONTACTLESS POWER FEEDING SYSTEM
This coil position adjusting mechanism 1 is provided with a coil moving mechanism 2 for displacing the position of a power feeding coil 122 or a power receiving coil 112. The coil moving mechanism 2 has a support body 43 and at least one biasing member 5-7. The support body 43 supports the power feeding coil 122 or the power receiving coil 112. The at least one biasing member 5-7 biases the support body 43. The at least one biasing member 5-7 includes at least one of a first biasing member 5, a second biasing member 6, and a third biasing member 7. The first biasing member 5 biases the support body 43 in the X-direction. The second biasing member 6 biases the support body 43 in the Y-direction. The third biasing member 7 biases the support body 43 around the central axis. The Y-direction is orthogonal to the X-direction, and the central axis is orthogonal to a plane including the X-direction and the Y-direction.
H02J 50/90 - Circuit arrangements or systems for wireless supply or distribution of electric power involving detection or optimisation of position, e.g. alignment
H02J 7/00 - Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
H02J 50/12 - Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
30.
Power unit and motor unit for wave gear speed reducer
A power unit comprises: a wave gear speed reducer, a rotary shaft extending in the axial direction; a rotor unit that rotates integrally with the rotary shaft; a stator unit disposed facing the rotor unit; and a motor casing to which the stator unit is secured. The motor casing has a second cover that covers the rotor unit and the stator unit from the other side in the axial direction. The rotary shaft extends toward the other side in the axial direction, penetrates the second cover, and is connected to a cam. The second cover has a support part that extends toward the other side in the axial direction, supports the rotary shaft in a rotatable manner, and is positioned in a flexible cylindrical part of an external gear.
H02K 5/173 - Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
This transmission has: an external gear having a plurality of outer teeth on the outer circumference thereof; and a plurality of carrier pins. The carrier pins extend in the axial direction, through through-holes provided in the external gear. The external gear has an external gear main body and a protective film that covers at least part of the inner circumferential surface of the through-holes. The protective film has a higher abrasion resistance than the external gear main body. During transmission drive, the through-holes and the carrier pins have repeated relative movement. During this time, the carrier pins are in contact with the protective film having high abrasion resistance. As a result, the inner circumferential surface of the through-holes can suppress abrasion resulting from contact with the carrier pins.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
F16H 57/08 - General details of gearing of gearings with members having orbital motion
In an automated guided vehicle, a connection mechanism includes a connecting part and a movable part, and is connected to an object by the connecting part. When the connecting part is in a first state and the movable part is at a first position, an end portion on the other side in a first direction of the connecting part contacts a surface on one side in the first direction of the movable part or penetrates the movable part in the first direction to protrude toward the other side in the first direction with respect to the surface on one side in the first direction of the movable part. When the connecting part is in the first state and the movable part is at a second position, the movable part is away from the connecting part. A force applied to the movable part maintains the movable part at the first position.
B60D 1/36 - Traction couplingsHitchesDraw-gearTowing devices characterised by arrangements for particular functions for facilitating connection, e.g. hitch catchers
B60D 1/52 - Traction couplingsHitchesDraw-gearTowing devices characterised by the mounting removably mounted
B60D 1/62 - Auxiliary devices involving supply lines, electric circuits, or the like
B60D 1/48 - Traction couplingsHitchesDraw-gearTowing devices characterised by the mounting
B61G 1/28 - Couplings comprising interengaging parts of different shape or form and having links, bars, pins, shackles, or hooks as coupling means with vertical bolt or pin
B60D 1/26 - Traction couplingsHitchesDraw-gearTowing devices characterised by arrangements for particular functions for remote control, e.g. for releasing
B60D 1/24 - Traction couplingsHitchesDraw-gearTowing devices characterised by arrangements for particular functions
An objective of the present invention is to provide a technology with which a mobile body estimates the present location thereof. Provided is a mobile body (101) capable of autonomous movement, said mobile body (101) comprising: a drive device (109) for moving the mobile body; a stereo camera (103) for repeatedly photographing a space in the vicinity while in motion and generating an environment image for each instance of photography; a storage device (106) for storing a plurality of reference images, each of which is associated with each respective position in the space; a localization device (105) for sequentially outputting position information of the present location, using the environment images and the plurality of reference images; and a controller (107) for controlling the drive device and causing the mobile body to move while referring to the position information outputted from the localization device. The localization device extracts a plurality of feature points from the environment images, compares same with the plurality of reference images, detects an image object contained in the environment images, and estimates the present location using the comparison result and the detection result.
B60P 9/00 - Other vehicles predominantly for carrying loads
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
36.
Automatic guided vehicle and method for controlling automatic guided vehicle
An automatic guided vehicle according to one aspect of the present invention moves a trolley including a trolley body, wheels attached to the trolley body, and a section to be connected which is provided on the lower surface of the trolley body. The automatic guided vehicle is provided with: a vehicle body; drive wheels attached to the vehicle body; and a connection mechanism which is connected to the trolley, wherein the connection mechanism includes a connecting section disposed on an upper side of the upper surface of the vehicle body so as to be movable horizontally in a first direction, and includes a drive apparatus which moves the connecting section in the first direction and connects the connecting section to the section to be connected.
A strain wave gear speed reducer unit includes: a casing extending in the axial direction; an internal gear disposed to be rotatable relative to the casing and having internal teeth on the inner circumference; a flexible external gear disposed to the inside of the internal gear in the radial direction, an end of which is fixed to the casing on one side in the axial direction, and which has external teeth on the outer circumference for meshing with the internal teeth; a cam disposed to the inside of the external gear in the radial direction and deforming the external gear in the radial direction by rotating together with a rotating shaft of a motor unit; a connecting part formed integrally with the cam and connected to the rotating shaft on the inside of the external gear; and a support connected to the casing and rotatably supporting the connecting part.
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
H02K 21/24 - Synchronous motors having permanent magnetsSynchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets axially facing the armatures, e.g. hub-type cycle dynamos
Provided is a power assist suit (30) in which a plurality of actuator units (A/U) (106A, 106B, 32a – 32e) provided in each joint and a control unit (150) are connected by a communication network so as to be able to communicate. When the control unit transmits a command specifying an operation mode to a first and second A/U, each A/U reads an operation parameter corresponding to the operation mode. When the first A/U receives an assist command from the second A/U, the first A/U drives an actuator and sends an assist command to the second A/U at a first timing. When the second A/U receives the assist command from the first A/U, the second A/U drives an actuator and sends an assist command to the first A/U at a second timing.
B25J 11/00 - Manipulators not otherwise provided for
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
G05B 19/05 - Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
A planetary speed reducer. An input shaft (100) of the planetary speed reducer has a cylindrical portion (101) into which an output shaft of a driving device can be firmly fit; an end portion (102) of the cylindrical portion (101) is continuous in a circumferential direction; dividing grooves (103) are provided on the cylindrical portion (101). Hence, the fastening effect between the input shaft (100) and the output shaft of the driving device is achieved, and the precision in the size of the inner diameter of the cylindrical portion (101) of the input shaft (100) can be improved, so that the assembly precision of the reducer can be improved and vibration of the planetary speed reducer can be reduced.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
40.
System, method, and computer program for mobile body management
There is provided a management system for vehicles which can make it easier to introduce changes in the traveling path on the field. A management system 1 manages travel of a vehicle by using a travel management apparatus. The vehicle includes a plurality of driving wheels to be driven by a plurality of motors, a drive unit to rotate the driving wheels, a first communication circuit which receives data representing a traveling path from the travel management apparatus, and a control circuit which causes the vehicle to travel along the traveling path. The travel management apparatus includes: an image displaying device; an input device; an image processing circuit which generates, when the input device accepts from a user a designation of a plurality of locations on the image displaying device, an image containing a plurality of marker objects indicating the plurality of locations; a signal processing circuit which converts a set of coordinates of each marker object on the image into a set of coordinates in a space to be traveled by the vehicle, and sets a line segment or a curve on the image displaying device that interconnects the plurality of marker objects as the traveling path in the space; and a second communication circuit which transmits data representing each set of coordinates in the space and the traveling path to the vehicle.
A continuously variable transmission having a plurality of planetary rollers arranged around a main shaft. Both ends of a rotary shaft of each of the planetary rollers are held so as to be capable of being displaced in the radial direction with respect to the main shaft. Each planetary roller has a first inclined surface in contact with an input rotating body and as second inclined surface in contact with an output rotating body. The inclination angle of the planetary rollers changes in accordance with the position of a movable ring in the axial direction. Thus, both the contact position of the first inclined surface with respect to the input rotating body and the contact position of the second inclined surface with respect to the output rotating body change. Therefore, the transmission gear ratio between the input rotating body and the output rotating body can be switched. Furthermore, the first inclined surface of the planetary rollers is a spherical surface. Therefore, the direction and magnitude of pressure generated at the contact point of the first inclined surface and the input rotating body does not easily change, regardless of the inclination angle of the planetary rollers.
F16H 15/28 - Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a spherical friction surface centered on its axis of revolution with external friction surface
B62M 11/16 - Transmissions characterised by use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with planetary gears built in, or adjacent to, the ground-wheel hub
F16H 15/18 - Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a conical friction surface externally
This transmission in which an output shaft is rotated at a speed different from that of an input shaft is provided with a first rotation mechanism and a second rotation mechanism. The first rotation mechanism has a sun roller rotating integrally with the input shaft, a plurality of planetary rollers which rotate as the sun roller rotates, a planetary roller support section which rotates about a center axis as the plurality of planetary rollers revolve, and a rotation transmitting shaft which rotates about the center axis with the planetary roller support section. The second rotation mechanism has a sun gear which rotates integrally with the rotation transmitting shaft, a plurality of planetary gears which mesh with the sun gear, and a planetary gear support section which rotates about the center axis as the plurality of planetary gears revolve. The output shaft rotates about the center axis with the planetary gear support section. The transmission is further provided with a pressure regulation mechanism which presses radially inward the plurality of planetary rollers according to a load in the rotational direction of the output shaft.
F16H 13/14 - Means for influencing the pressure between the members for automatically varying the pressure mechanically
F16H 13/08 - Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
F16H 37/02 - Combinations of mechanical gearings, not provided for in groups comprising essentially only toothed or friction gearings
This mobile body senses the surrounding space by using a sensor, and can autonomously travel while deducing the position thereof by comparing acquired sensor data with a map prepared in advance. The mobile body is provided with: a motor; a drive device that moves the mobile body by controlling the motor; a reading device that optically or magnetically reads the position of a map generation guidance body installed on the floor; a signal processing circuit that controls the drive device so as to travel along the map generation guidance body on the floor in accordance with the reading result of the reading device; a sensor that acquires the sensor data, by sensing the surrounding space during the traveling along the map generation guidance body; and a storage device that stores the sensor data. A map generated from the sensor data is used as the map prepared in advance for autonomous traveling.
This operation management device manages the operation of a plurality of moving bodies that are capable of autonomous travel and include a first moving body and a second moving body. Each moving body comprises: a memory that stores the same map data; a sensor that senses surrounding space and outputs sensor data; a positioning device that compares the sensor data with the map data and outputs pose data indicating position and attitude; and a communication circuit. The operation management device is provided with a communication interface device, a computation circuit, and a storage device. The computation circuit receives, via the communication interface device, the pose data output by the first and second moving bodies following sensing carried out at the same attitude and in the same position in the space, and the computation circuit stores individual difference data that is the difference between the pose data received from the first moving body and the pose data received from the second moving body.
In the present invention, a management device comprises: a first communication circuit that communicates with each of a plurality of moving bodies; and a first control circuit that determines an operation route for each moving body, and transmits, via the first communication circuit, a signal indicating the operation route to each of the plurality of moving bodies. Each moving body comprises: a second communication circuit that communicates with the first communication circuit; a sensor that detects an obstruction; and a second control circuit that moves the moving body according to the operation route determined by the first control circuit. When an obstruction has been detected by the sensor, the second control circuit causes the moving body to avoid the obstruction, and transmits, via the second communication circuit, a signal indicating the existence of the obstruction. When a signal indicating the existence of an obstruction is transmitted from any of the moving bodies, the first control circuit changes the routes of the other moving bodies which are expected to pass through a route in which the obstruction exists.
A mobile body of an embodiment is a mobile body capable of autonomous travel, comprising: a drive device that moves the mobile body; an external sensor; a position estimating device that sequentially outputs position information showing the position and orientation of the mobile body based on sensor data output from the external sensor; a storage device that stores the position information output from the position estimating device; and a controller that controls the drive device to move the mobile body. After the mobile body moves from a first point to second point, based on the position information stored in the storage device, the controller returns the mobile body to the first point following in reverse the path from the first point to the second point.
A map creation system (101, 200) has: a fixed sensor (103), fixedly installed in a space in which a mobile entity moves, the fixed sensor sensing a portion of the space at a plurality of different times of day and outputting sensor data of each time of day; and a map creation device for receiving the sensor data of each time of day and creating a map of at least the portion of the space. The sensor data of each time of day (231, 223) indicate the positions of objects (221, 223) present in the portion of the space at each time of day. The map creation device (105) has a storage device (107) for storing the sensor data of each time of day, and a signal-processing circuit (109) for creating local map data that is a map of the portion of the space on the basis of positions of fixed objects that are included in common in all of the sensor data of each time of day.
Provided is a method for detecting overlapping of workpieces in a press device 1 that presses a workpiece W using dies including an upper die UD and a lower die LD, the method including: a pressing step in which a slide 3 to which the upper die UD is attached is moved up and down above a bolster 2 to which the lower die LD is attached; a load detecting step in which the load applied to the slide 3 is detected; and a determination step in which it is determined that workpieces W overlap when the gradient K of the change in the load, detected in the load detecting step while the slide 3 is moved down by a press mechanism 6, with respect to the moving distance of the slide 3 or the time elapsed is greater than a reference Ref.
The objective of the present invention is to stabilize the travel of a moving body provided with two types of positioning device employing different sensing methods. This moving body is provided with: a motor; a drive device which controls the motor to move the moving body; a first sensor and a second sensor which respectively output first sensor data and second sensor data indicating sensing results acquired in accordance with the movement of the moving body using mutually different sensing methods; a first positioning device which performs a first estimation calculation using the first sensor data to estimate the position of the moving body; a second positioning device which performs a second estimation calculation using the second sensor data to estimate the position of the moving body; and a calculating circuit which, in accordance with whether reliability data indicating a degree of certainty of the estimation result obtained by the first positioning device matches certain criteria, selects one of the estimation result obtained by the first positioning device and the estimation result obtained by the second positioning device as the position of the moving body.
A shaft extends in the direction of the center axis. A hub has a side surface, an inner cylinder, and an outer cylinder, and is capable of rotating relative to the shaft. A stator is provided coaxially with the hub in a non-rotatable manner, is annularly disposed between the inner cylinder and the outer cylinder in a radial direction, and has a coil. A rotor is disposed coaxially with the stator utilizing the space between the stator and the side surface, holds a magnet subjected to a magnetic force from the coil, and is rotatable about the center axis. A ring gear is disposed coaxially with the inner cylinder and is affixed to the hub. A flexible gear is disposed facing the ring gear in the radial direction, is affixed to the stator, and partially meshes, between the inner cylinder and the stator, with the ring gear. A wave motion generator is disposed on the opposite side, radially, of the flexible gear from the ring gear.
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
A61G 5/04 - Chairs or personal conveyances specially adapted for patients or disabled persons, e.g. wheelchairs motor-driven
B60K 7/00 - Disposition of motor in, or adjacent to, traction wheel
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
This wave gear device is provided with: a non-circular cam which rotates about the center axis; a flexible ball bearing which is mounted on the outer circumferential surface of the non-circular cam and which has a radial length variable in the circumferential direction according to rotation of the non-circular cam; a flexible externally toothed gear which has a cylindrical shape extending in the axial direction, of which the lower end in the axial direction has an inner circumferential surface in contact with the outer circumferential surface of the ball bearing, and which has a plurality of external teeth provided at a certain pitch in the circumferential direction on the outer circumferential surface of the lower end in the axial direction; and an internally toothed gear that is disposed radially outside the flexible externally toothed gear, that includes inner teeth the number of which is different from the number of the plurality of external teeth, and that partially meshes with the flexible externally toothed gear. The outer circumferential surface of the ball bearing and the inner circumferential surface of the lower end of the flexible externally toothed gear are in surface contact with each other. A space is provided, in the contact portion, at a position facing, in the radial direction, a ball in the ball bearing.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
This wave gear device is provided with: a noncircular cam which rotates about a vertically extending center axis; a flexible bearing which is mounted on the outer peripheral surface of the noncircular cam and of which the radial length changes in the circumferential direction with rotation of the noncircular cam; a flexible external gear which has a cylindrical shape extending in the axial direction, is mounted at the axially bottom end on the outer peripheral surface of the flexible bearing and which, on the outer peripheral surface of the bottom end, comprises outer teeth provided at a fixed pitch along the circumferential direction; and an internal gear which is arranged radially outside of the flexible external gear, has inner teeth different from the outer teeth, and which meshes partially with the flexible external gear. The inner peripheral surface of the bottom end of the flexible external gear is at least in contact with the outer peripheral surface of the axially upper side of the flexible bearing. A space is provided on the lower side in the axial direction from the position of contact between the outer peripheral surface of the flexible bearing and the inner peripheral surface on the lower end of the flexible external gear.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
This speed reducer has an input rotating body, an output rotating body, and a housing. The input rotating body includes an input shaft, an arm part, and rollers. The output rotating body includes a movable crown gear and an output shaft. The housing includes a fixed crown gear. The movable crown gear and the fixed crown gear extend perpendicular to or obliquely with respect to a center axis. Furthermore, the movable crown gear and the fixed crown gear have side-surface teeth facing each other. The rollers make contact with a portion of the movable crown gear in the circumferential direction. The movable crown gear and the fixed crown gear partially mesh with each other due to pressing force applied by the rollers. Furthermore, in conjunction with the rotation of the input rotating body, the meshing position of the movable crown gear and the fixed crown gear changes in the circumferential direction with the input rotation speed, with the center axis as the center. The movable crown gear rotates with respect to the fixed crown gear with an output rotation speed, which is determined by the difference in the number of teeth of the movable crown gear and the fixed crown gear.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
F16H 55/06 - Use of materialsUse of treatments of toothed members or worms to affect their intrinsic material properties
This drive device is provided with a first plug, a second plug, and a third plug, which are provided along a peripheral surface of a hollow shaft. The outer peripheral surface of the first plug is provided with a bearing, and the outer peripheral surface of the second plug is provided with a flexible bearing. The radial outside of the hollow shaft is provided with: a first support section having an inner peripheral surface which supports an internal gear; and a second support section for supporting a flexible external gear. The flexible external gear and the internal gear mesh with each other, and the flexible external gear and the internal gear rotate relative to each other because of a difference in the number of the teeth. The outer peripheral surface of the first plug is exactly circular when viewed axially, and the outer peripheral surface of the second plug has an elliptical shape having a major axis with a length greater than the diameter of the first plug, and also having a minor axis. When not mounted on the hollow shaft, the flexible bearing has a circular shape in a plan view and has an inner diameter smaller than the length of the major axis of the second plug. The outer peripheral surface of the third plug at least has a tapered surface at a position overlapping the major axis when viewed axially.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
A mobile device 100 is provided with: a distance measurement device 15 that rotationally drives a light projection unit emitting projection light and that outputs distance measurement data on the basis of received reflection light that is the projection light reflected off of a measurement target; a map creation unit that creates map information on the basis of the distance measurement data; and obstacle sensors 16, 17 that detect obstacles. The obstacle sensors are disposed in an invalid measurement region R2 of the distance measurement device, the invalid measurement region R2 being within a circular region that includes a valid measurement region R1 of the distance measurement device.
A mobile computer (20) receives an input from a user via a graphical user interface (GUI) to control the motion of a mobile body. The mobile computer is provided with: a communication circuit (23); a display device (25) for displaying the GUI; a touch screen panel (26) for outputting the data of a position at which a touch on the display device is detected; and a processing circuit (21) that, in response to the detection of a touch, performs travel control or a setting process for the mobile body associated with a widget installed at the detection position. The GUI includes: one or more operation widgets (30a-30d, 31) for travel control of the mobile body; a map-making widget (32) for causing the mobile body to generate a spatial map; a capture widget (33) for generating a travel route of the mobile body; and a route selection widget (35) for selecting a route that has been selected.
A wave gear speed reduction unit 2 equipped with: a tubular casing 11 extending along the axial direction of a center axis X; an annular, internally toothed gear 15; a flexible, annular, externally toothed gear 14; an elliptical cam 12; and a flexible bearing 13. The cam 12 has a cam-side connecting part 12f, which is positioned on the other side of the externally toothed gear 14 in the axial direction and radially inward from the portion of the externally toothed gear 14 where external teeth 31 are provided, and at which the other side of a rotor 60 in the axial direction can be connected to one side of the cam 12 in the axial direction. The cam-side connection part 12f has a recess part 12b which, on one side in the axial direction, is recessed toward the other side, accommodates at least a portion of the other side of the rotor 60 in the axial direction, and to which at least said portion can be connected.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
F16C 19/06 - Bearings with rolling contact, for exclusively rotary movement with bearing balls essentially of the same size in one or more circular rows for radial load mainly with a single row of balls
F16D 3/18 - Universal joints in which flexibility is produced by means of pivots or sliding or rolling connecting parts the coupling parts having slidably-interengaging teeth
H02K 5/16 - Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
This mobile body comprises: an external environment sensor (106) which senses the space in the periphery of the mobile body and periodically outputs sensor data; a storage device (108) which stores map data; a positioning device (110) which, using the sensor data and the map data, carries out a process of estimating the position of the mobile body and sequentially outputs position estimation values; and a computation circuit (120). When the positioning device is to commence the process of estimating the position of the mobile body at a second time point after having outputted the position estimation value for the mobile body at a first time point, the computation circuit references the distance and direction of the movement of the mobile body between the first time point and the second time point to correct the position estimation value at the first time point accordingly, and supplies the positioning device with the corrected estimation value which serves as an initial position of the position of the mobile body at the second time point.
The present invention provides a management system which manages traveling of at least one moving body. This management system (100) includes a moving body (10) and a traveling management device (20) which manages traveling of the moving body. The moving body includes motors (16a-16d), a driving device (17) which controls the motors to move the moving body, a first communication circuit (14d), and a control circuit (14a). The traveling management device includes a signal processing circuit (21) which generates an n-th command for moving the moving body from an n-th location (where n is a positive integer number) to an (n+1)th location, and a second communication circuit (24). When moving from the n-th location to the (n+1)th location and arriving at a region determined according to the (n+1)th location, the moving body transmits a region arrival notification to the traveling management device. When receiving the region arrival notification, the traveling management device generates an (n+1)th command for moving the moving body from the (n+1)th location to an (n+2)th location, and transmits the (n+1)th command to the moving body.
This mobile body (10) comprises: motors (16a-16d); a drive device (17) for the motors; a sensor (15) which senses surrounding spaces and outputs sensor data; a storage device (14c) which stores data for a plurality of interim maps, each of the plurality of interim maps being generated from the sensor data on surrounding spaces which are each sensed by the sensor at time intervals; and processing circuits (14a, 14e, 14g) which generate a single map from the plurality of interim maps. The single map includes a plurality of characteristic points (51) in an identifiable manner. Each of the plurality of characteristic points indicates a position where the degree of correspondence among the plurality of interim maps exceeds a prescribed value. The processing circuits carry out a process of matching the single map against the sensor data newly outputted from the sensor and identifying the self-position.
This drive wheel unit is attached to and drives an automated guided vehicle provided with a vehicle body and a plurality of casters which support the vehicle body from below. The drive wheel unit comprises drive wheels, a drive mechanism which turns the drive wheels around a horizontally-oriented drive axis, and a steering mechanism which changes the orientation of the drive wheels around a vertically-oriented steering axis. At least part of the steering mechanism is located between the top edge and the bottom edge of the drive wheels in the vertical direction. With the drive wheel unit attached to the vehicle body, the entire steering mechanism is located below the top surface of the vehicle body.
B62D 7/04 - Steering linkageStub axles or their mountings for pivoted bogies with more than one wheel
B62D 7/02 - Steering linkageStub axles or their mountings for pivoted bogies
B62D 7/14 - Steering linkageStub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
This speed reducer with an electric motor has: a hollow shaft that extends in an axial direction around a first center axis; a cylindrical casing fixed to the hollow shaft; a fixing part that is relatively stationary with respect to the casing; an electric motor that generates a rotation motion with respect to a second center axis parallel to the first center axis, on the radial outside of the hollow shaft; a speed reduction mechanism that decelerates and transmits the rotation motion by the electric motor; an output part that rotates with respect to the first center axis at a rotation speed after the deceleration; and a torque sensor that is connected to the casing and the fixing part. The torque sensor has: a strain body that has an annular outer ring and an annular inner ring and is elastically deformable; and a plurality of strain sensors. The outer ring is located at an end portion on the radial outside of the torque sensor, and is connected to one of the casing and the fixing part. The inner ring is located at an end portion on the radial inside of the torque sensor, and is connected to the other of the casing and the fixing part. Each of the plurality of strain sensors is at least partially located in a radial direction between the outer ring and the inner ring.
F16H 1/00 - Toothed gearings for conveying rotary motion
F16C 19/36 - Bearings with rolling contact, for exclusively rotary movement with bearing rollers essentially of the same size in one or more circular rows, e.g. needle bearings for both radial and axial load with a single row of rollers
F16C 19/52 - Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
G01L 3/14 - Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
63.
MOVING BODY PERFORMING OBSTACLE AVOIDANCE OPERATION AND COMPUTER PROGRAM THEREFOR
A moving body 10 includes: a plurality of driving wheels driven by a plurality of motors; an obstacle sensor 14j; an external sensor 15 that repeatedly scans the environment and outputs sensor data for each scan; a position estimation device 14e that successively generates and outputs position information on the moving body on the basis of the sensor data; a control circuit 14a that controls the movement of the moving body while referring to the position information; and a storage device 14c that stores detour route data defining a reference detour route which is a combination of a first route relating to a first direction and a second route relating to a second direction different from the first direction. When it is detected that an obstacle is present in the traveling direction at the first position from the output of the obstacle sensor while the moving body is moving along a preset traveling route, the control circuit sets a detour route from the first position to the second position on the preset traveling route by using the detour route data, and causes the moving body to move along the detour route.
A continuously variable transmission includes an input rotor, an output rotor, a plurality of planetary rollers, a guide member, a movable ring, and an elastic member. The input rotor is arranged to rotate about a main axis at a rotation rate before a speed change. The output rotor is arranged to rotate about the main axis at a rotation rate resulting from the speed change. The planetary rollers are arranged around the main axis, and each planetary roller is capable of rotating about a rotation shaft. The guide member is arranged to restrict positions of both end portions of the rotation shaft. The movable ring is capable of rotating about the main axis between the main axis and the planetary rollers. The movable ring is annular, and is capable of moving in an axial direction. The elastic member is capable of expanding and contracting in the axial direction. Each planetary roller includes a first slanting surface, a second slanting surface, and an annular recessed portion or annular projecting portion. The guide member is arranged to hold the end portions of the rotation shaft at different circumferential positions such that each end portion of the rotation shaft is capable of shifting a position thereof in a radial direction with respect to the main axis. The elastic member is arranged to apply a pressure to the movable ring in the axial direction.
F16H 15/36 - Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a curved friction surface formed as a surface of a body of revolution generated by a curve which is neither a circular arc centered on its axis of revolution nor a straight line with concave friction surface, e.g. a hollow toroid surface
F16H 15/38 - Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a curved friction surface formed as a surface of a body of revolution generated by a curve which is neither a circular arc centered on its axis of revolution nor a straight line with concave friction surface, e.g. a hollow toroid surface with two members B having hollow toroid surfaces opposite to each other, the member or members A being adjustably mounted between the surfaces
F16H 15/50 - Gearings providing a continuous range of gear ratios
F16H 15/30 - Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a spherical friction surface centered on its axis of revolution with internal friction surface
B62M 11/12 - Transmissions characterised by use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with frictionally-engaging wheels
F16H 15/22 - Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a conical friction surface externally the axes of the members being parallel or approximately parallel
F16H 15/34 - Gearings providing a continuous range of gear ratios in which a member A of uniform effective diameter mounted on a shaft may co-operate with different parts of a member B in which the member B has a curved friction surface formed as a surface of a body of revolution generated by a curve which is neither a circular arc centered on its axis of revolution nor a straight line with convex friction surface
F16H 15/54 - Gearings providing a continuous range of gear ratios in which two members co-operate by means of rings or by means of parts of endless flexible members pressed between the first-mentioned members
B62M 11/16 - Transmissions characterised by use of interengaging toothed wheels or frictionally-engaging wheels of changeable ratio with planetary gears built in, or adjacent to, the ground-wheel hub
B62M 25/02 - Actuators for gearing speed-change mechanisms specially adapted for cycles with mechanical transmitting systems, e.g. cables, levers
This continuously variable transmission has a plurality of planetary rollers arranged around a main shaft. Both ends of the rotation shaft of each of the planetary rollers are held at different positions in a peripheral direction. In addition, said both ends of the rotation shaft are held so as to be displaceable in the radial direction with respect to the main shaft. This continuously variable transmission further has: a movable ring that engages the planetary rollers; and an elastic member that applies pressure to the movable ring in the axial direction. During use of the continuously variable transmission, the inclination angle of the rotation shaft of each of the planetary rollers within a cross-section including the main shaft changes according to the load applied to the planetary roller. Then, the contact position of an input rotor with respect to the planetary roller and the contact position of an output rotor with respect to the planetary roller respectively change. Thus, the transmission gear ratio between the input rotor and the output rotor can be switched. In other words, the transmission gear ratio can be automatically switched according to the load.
F16H 15/52 - Gearings providing a continuous range of gear ratios in which a member of uniform effective diameter mounted on a shaft may co-operate with different parts of another member
B62M 9/08 - Transmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like involving eccentrically-mounted or elliptically-shaped driving or driven wheelTransmissions characterised by use of an endless chain, belt, or the like of changeable ratio using a single chain, belt, or the like with expansible driving or driven wheel
Provided is an electric motor-equipped gear speed reducer 1 comprising: a shaft 4 to which a stator 51 is fixed; a rotating body 11 which has a rotor 55 and a cam 12, and through which a shaft 1 passes; an external gear 14 surrounding the rotating body 11 and the stator 51 from the outside in the radial direction of the shaft 4 and having one side in the axial direction fixed to the shaft 4; a flexible bearing 13; an internal gear 15; an output part 16 connected to the internal gear 15 and having a flat plate section 16b and a cylindrical section 16c; a first bearing 17 which is positioned between the shaft 4 and the cylindrical section 16c and rotatably supports the output part 16 with respect to the shaft 4; and a second bearing 18 which is positioned between the cylindrical section 16c and the rotating body 11 and supports the output part 16 and the rotating body 11 so as to be relatively rotatable. The flexible bearing 13, the first bearing 17, and the second bearing 18 are arranged side by side at prescribed positions in the axial direction.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
An unmanned carrier according to one aspect of the present invention moves a dolly including a dolly body, wheels attached to the dolly body, and a part to be connected which is provided on the lower surface of the dolly body. The unmanned carrier is provided with: a carrier body; drive wheels attached to the carrier body; and a connection mechanism which is connected to the dolly, wherein the connection mechanism includes a connecting part disposed on an upper side of the upper surface of the carrier body so as to be movable horizontally in a first direction, and includes a drive device which moves the connecting part in the first direction and connects the connecting part to the part to be connected.
B61G 1/28 - Couplings comprising interengaging parts of different shape or form and having links, bars, pins, shackles, or hooks as coupling means with vertical bolt or pin
This transmission comprises: a sun roller (14A) which rotates about the center axis; a plurality of planetary rollers (26A, 26C) which are located in the periphery of the sun roller (14A); an annular internal ring (32A) which is located further toward the outside in the radial direction with respect to the center axis than the plurality of planetary rollers (26A, 26C) and which makes contact with the plurality of planetary rollers (26A, 26C); and a carrier which has a plurality of carrier pins (35A) that support the plurality of planetary rollers (26A, 26C) so that the planetary rollers can turn on their respective axes around the center axis. The plurality of planetary rollers (26A, 26C) each have: an annular outside member (261A, 261C) which has an outer peripheral surface that makes contact with the internal ring (32A) and the sun roller (14A); and an annular inside member (262A) which is located on the inside of the outside member (261A, 261C) and has an inner peripheral surface that is at least partially supported directly or indirectly by the carrier pin (35A). The outside member (261A, 261C) and the inside member (262A) are directly or indirectly fixed to each other, and part of the inner peripheral surface of the outside member (261A, 261C) and part of the outer peripheral surface of the inside member (262A) face each other across a gap.
F16H 13/08 - Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
In order to achieve a configuration for a motor unit for a wave gear speed reducer wherein the motor unit can be attached to the wave gear speed reducer in a compact manner, this motor unit 3 for a wave gear speed reducer is equipped with: a rotary shaft 52 extending in the axial line direction; a rotor unit 3a that rotates integrally with the rotary shaft 52; a stator unit 3b arranged opposing the rotor unit 3a; and a motor casing 51 to which the stator unit 3b is secured. The motor casing 51 has a second cover 62 that covers the rotor unit 3a and the stator unit 3b from the other side in the axial line direction. The rotary shaft 52 extends toward the other side in the axial line direction, penetrates the second cover 62, and is connected to a cam 12. The second cover 62 has a support part 64 that extends toward the other side in the axial line direction, supports the rotary shaft 52 in a rotatable manner, and is positioned on the inside of an external gear 14 when a wave gear speed reducer 2 is attached to the motor casing 51.
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
F16H 57/021 - Shaft support structures, e.g. partition walls, bearing eyes, casing walls or covers with bearings
A speed reducer includes a sun gear, planetary gears, a fixed part, an output part, a first bearing, and a second bearing. The sun gear rotates relative to the fixed part at a first rotation speed. The planetary gears are disposed around the sun gear to engage with the sun gear. The output part includes an annular internal gear engaging with the planetary gears. The output part rotates relative to the fixed part at a second rotation speed lower than the first rotation speed. The first bearing is interposed between the fixed part and the output part at a position closer to an input side with respect to the planetary gears. The second bearing is interposed between the fixed part and the output part at a position closer to an output side with respect to the planetary gears. The second bearing is smaller in radial size than the first bearing.
A strain wave gear speed reducer unit 1 is provided with: a casing 11 with a cylindrical shape that extends in the axial direction; a ring-shaped internal gear 15 disposed so as to be rotatable relative to the casing 11 and having internal teeth 32 on the inner circumference; a flexible ring-shaped external gear 14, which is disposed to the inside of the internal gear 15 in the radial direction, one axial direction end of which is fixed to the casing 11, and which has external teeth 31 on the outer circumference for meshing with the internal teeth 32; an elliptical cam 12a, which is disposed to the inside of the external gear 14 in the radial direction and deforms the external gear 14 in the radial direction by rotating together with a rotating shaft 52 of a motor unit 3; a connecting part 12b formed integrally with the cam 12a and connected to the rotating shaft 52 on the inside of the external gear 14; and a support 19 connected to the casing 11 and rotatably supporting the periphery of the connecting part 12b.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
73.
TRACTION SPEED REDUCER AND ELECTRIC MOTOR–EQUIPPED SPEED REDUCER
This traction speed reducer is provided with: a sun roller that rotates about an axis of rotation; a plurality of planetary rollers that are disposed around the sun roller; a pair of annular internal rings that are in contact with the plurality of planetary rollers; and a carrier that holds the planetary rollers and rotates about the axis of rotation. The plurality of planetary rollers are each in contact with the sun roller and both of the internal rings, and by receiving motive power from the sun roller, orbit around the axis of rotation while rotating independently. The carrier has a contact surface facing the outer circumferential surface of the planetary rollers, and the contact surface and the outer circumferential surface of the planetary rollers are in contact in the circumferential direction about the axis of rotation. As a result, a carrier pin for rotatably supporting the planetary rollers is unnecessary. Thus, it is possible to reduce the number of components and decrease the size of the traction speed reducer.
F16H 13/08 - Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
F16H 13/14 - Means for influencing the pressure between the members for automatically varying the pressure mechanically
H02K 7/10 - Structural association with clutches, brakes, gears, pulleys or mechanical starters
74.
SYSTEM, METHOD, AND COMPUTER PROGRAM FOR MOBILE BODY MANAGEMENT
Provided is a mobile body management system that makes it easier to change a travel route at an actual spot. This management system manages travel of a mobile body using a travel management device. The mobile body has: multiple drive wheels that are driven by multiple motors; a drive device that rotates each of the drive wheels; a first communication circuit that receives, from the travel management device, data indicating a travel route; and a control circuit that causes the mobile body to travel along the travel route. The travel management device has: an image display device; an input device; an image processing circuit that, when the input device receives designation of multiple positions on the image display device from a user, generates an image including therein multiple marker objects which indicate the multiple positions; a signal processing circuit that converts the coordinates of each of the marker objects on the image into coordinates in a space in which the mobile body is to travel, and further sets a line segment or a curved line, on the image display device, connecting between the multiple marker objects as a travel route in the space; and a second communication circuit that transmits data indicating the respective coordinates and the travel route in the space to the mobile body.
This speed reducer (1A) has a first speed reduction mechanism (20A) and a second speed reduction mechanism (30A). The first speed reduction mechanism (20A) has sun rollers (21A, 22A), a support part (62A), and planetary rolling bodies (23A). The second speed reduction mechanism (30A) has a fixed gear (32A) and a rotating gear (31A). The fixed gear (32A) and the rotating gear (31A) partially engage due to pressure received from the planetary rolling bodies (23A). Thus, the number of members in a power transmission unit between the first speed reduction mechanism (20A) and the second speed reduction mechanism (30A) can be reduced. Accordingly, a second stage of speed reduction occurs, and a compact speed reducer (1A) is achieved. Furthermore, the planetary rolling bodies (23A) make contact with the sun rollers (21A, 22A) and the support part (62A), thereby stabilizing the position of the planetary rolling bodies (23A). Accordingly, excessive contact between gear members does not easily occur.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
F16H 13/08 - Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
F16H 13/10 - Means for influencing the pressure between the members
Provided is a rotary actuator having a motor and a reduction gear that are arranged coaxially, wherein the weight of the rotary actuator can be reduced. For example, a rotary actuator 2 is provided with: a motor 7 having a rotary shaft 13 and a drive magnet 29 fixed to the rotary shaft 13; and a reduction gear 8 having an input shaft 20 that is arranged coaxially with the rotary shaft 13 and is coupled to the rotary shaft 13. The rotary shaft 13 is provided with a cylindrical magnet fixing part 13a, to which the drive magnet 29 is fixed on the outer peripheral side. One end side of the input shaft 20 is fixed to the inner peripheral side of the magnet fixing part 13a. The rotary shaft 13 is formed from a magnetic material, and the input shaft 20 is formed from a material having a lower specific gravity than the magnetic material from which the rotary shaft 13 is formed.
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
B25J 9/08 - Programme-controlled manipulators characterised by modular constructions
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
Provided is a hollow-type rotary actuator. For example, a rotary actuator 2 used in a joint part of an industrial robot is provided with: a hollow motor 7 having a hollow rotary shaft 13; a hollow reduction gear 8 having a hollow input shaft 20 that is arranged coaxially with the rotary shaft 13 and is coupled to the rotary shaft 13; a tubular member 26 disposed on the inner peripheral side of the rotary shaft 13 and the input shaft 20; and a holding member 32 that holds one end side of the tubular member 26. The holding member 32 is provided with a holding part 32a, in which a through-hole 32b that leads to the inner peripheral side of the tubular member 26 is formed. In the rotary actuator 2, one end side of the tubular member 26 is held by the holding part 32a, and the other end side of the tubular member 26 is movably fit to the output side portion of the hollow reduction gear 8.
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
B25J 9/08 - Programme-controlled manipulators characterised by modular constructions
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
This decelerator equipped with an electric motor includes: a casing; an electric motor that produces a rotary movement with respect to the casing; a deceleration mechanism that is positioned more radially inward than the electric motor, and that transmits the rotary movement obtained from the electric motor while decelerating said rotary movement; an output part that rotates at a post-deceleration rotation speed; a first bearing that rotatably connects the casing or a member fixed to the casing and a rotating part of the electric motor; and a second bearing that rotatably connects the casing and the output part. The deceleration mechanism includes: a non-circular cam of which the inner diameter varies depending on the position in the circumferential direction, and that rotates together with the rotating part of the electric motor; a flexible internal gear that deforms in response to the rotation of the non-circular cam; and a movable external gear that is provided to the output part. The second bearing is disposed more radially inward than the flexible internal gear.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
H02K 7/116 - Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
A friction-type continuously variable transmission includes first to third rolling elements of which are annular and is centered on a principal axis, planetary rollers arranged in a circumferential direction about the principal axis, support pins arranged to rotatably support the planetary rollers, and a planetary roller support portion arranged to support each support pin such that the support pin is capable of inclining in a section including the principal axis. Each planetary roller includes a recessed portion in the shape of a circular ring in an outer circumference thereof centered on the support pin. The first rolling element is arranged to make contact with a rolling contact surface of the planetary roller from one side in a radial direction axially below the recessed portion. The first rolling element is arranged to make contact with the rolling contact surface of the planetary roller from the one side in the radial direction axially above the recessed portion. The third rolling element is arranged to make contact with the recessed portion of the planetary roller from an opposite side in the radial direction, and is supported to be capable of moving in a vertical direction relative to the planetary roller support portion.
F16H 13/08 - Gearing for conveying rotary motion with constant gear ratio by friction between rotary members with members having orbital motion with balls or with rollers acting in a similar manner
F16H 15/52 - Gearings providing a continuous range of gear ratios in which a member of uniform effective diameter mounted on a shaft may co-operate with different parts of another member
F16H 15/04 - Gearings providing a continuous range of gear ratios
F16H 15/50 - Gearings providing a continuous range of gear ratios
In a speed reducer unit with an electric motor, according to the present invention, a speed reduction mechanism has: an elliptical cam that rotates together with a rotating part; a flexible external gear that deforms according to the rotation of the elliptical cam; a flexible bearing that is located between the elliptical cam and the flexible external gear; and a movable internal gear that rotates together with an output part. In the speed reduction mechanism, the flexible external gear and the movable internal gear are engaged with each other, and the flexible external gear and the movable internal gear rotate relative to each other due to the difference in the number of teeth. The electric motor has: a rotor holder that is part of the rotating part and that rotates together with the elliptical cam; a rotor magnet that is fixed to the rotor holder; and a stator that is fixed to a casing and that is opposed to the rotor magnet. The rotor holder has a rotor-holder lid part that is opposed to the stator, and the positions of the rotor-holder lid part and the flexible bearing in the axial direction at least partially overlap. Accordingly, even when a large load is imposed on the output part, a load added to the flexible bearing can be received by the rotor-holder lid part.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
A drive wheel unit is mounted to an automated transport dolly and drives the automated transport dolly, the transport dolly having a dolly body and a plurality of casters for supporting the dolly body from below. The drive wheel unit is provided with: an arm support section which can be mounted to the dolly body; an arm supported so as to be rotatable about the point of support of the arm support section; a drive wheel connected to the arm; a drive mechanism connected to the drive wheel and rotationally driving the drive wheel; and an elastic member elastically deforming between the arm and the arm support section to apply a downward force to the drive wheel. The point of support of the arm support section mounted to the dolly body is located between the upper end and lower end of the drive wheel in the vertical direction.
B62D 11/04 - Steering non-deflectable wheelsSteering endless tracks or the like by differentially driving ground-engaging elements on opposite vehicle sides by means of separate power sources
82.
OUTPUT CONTROL DEVICE FOR REDUCER SYSTEM, REDUCER SYSTEM, AND METHOD FOR CONTROLLING OUTPUT OF REDUCER SYSTEM
An output control device is provided with: a reducer encoder for detecting the rotation of an output shaft of a reducer; an error acquisition unit for acquiring output errors, which are errors of input to a motor and output from the reducer, on the basis of command signals, output from a motor encoder, and output from the reducer encoder; and a correction unit for correcting the command signals inputted to a drive control mechanism on the basis of the output errors. The resolution of the motor detection signal is higher than the resolution of the reducer detection signal. The error acquisition unit synchronizes the motor detection signal with the reducer detection signal when the detection pulse signal of the reducer detection signal is inputted, and during the period until the detection pulse signal after the reducer detection signal is inputted, when the detection pulse signal of the motor detection signal is inputted, the command signal and the motor detection signal are compared and the output error is estimated and acquired.
This gear transmission comprises an input rotary body (10), an output rotary body (30), and a transmission mechanism. The transmission mechanism comprises: a plurality of externally toothed gears (51, 52) provided with a plurality of through holes (55) and a plurality of external teeth (53); a spacer (57) that forms a gap between adjacent externally toothed gears (51, 52); a plurality of eccentric bearings (40); an annular frame (60); and a plurality of internal pins (62) that mesh with the outer teeth (53) along the inner circumference of the frame (60). The output rotary body (30) comprises disk bodies (31, 32) and a plurality of carrier pins (33) that are fixed to the disk bodies (31, 32) and individually inserted into the plurality of through holes (55). At least one solid lubricant (70) is arranged on the interior of the frame (60). The solid lubricant (70) is in contact with at least the internal pins (62), the externally toothed gears (51, 52), or the carrier pins (33). As a result, it is possible to supply a lubricating component to a drive section of the gear transmission. It is thus possible to reduce the resistance of the drive section of the gear transmission.
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
F16H 57/04 - Features relating to lubrication or cooling
84.
Die abnormality prediction system, press machine provided with the same, and die abnormality prediction method
Provided is an abnormality prediction system and an abnormality prediction method that are capable of predicting an abnormality occurring in a die that is used in a press machine. A die abnormality prediction system (50) includes: an acoustic emission (AE) sensor (62) configured to detect an elastic wave that occurs in a processing portion of a die during processing performed by a press machine using the die; a stamping load detection sensor (61) configured to detect a parameter (a stamping load) other than a parameter regarding the elastic wave, out of parameters regarding a state of the die during the processing performed by the press machine using the die; a score calculation unit (56) configured to calculate an abnormality prediction score of the die based on an output signal from the AE sensor (62) and an output signal from the stamping load detection sensor (61); and an abnormality prediction unit (57) configured to predict an abnormality occurring in the die, based on a result of the calculation performed by the score calculation unit (56).
B21D 55/00 - Safety devices protecting the machine or the operator, specially adapted for apparatus or machines dealt with in this subclass
B21D 22/02 - Stamping using rigid devices or tools
G01N 29/44 - Processing the detected response signal
G01L 5/00 - Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
G01N 29/14 - Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic wavesVisualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object using acoustic emission techniques
A friction-type stepless transmission has: annular first to third rotating bodies (31-33) centered on the main axis (J); planetary rollers (20) arranged in the circumferential direction of the main axis (J); support pins (21) for rotatably supporting the planetary rollers (20); and a planetary roller support section (22) for supporting the support pins in a tiltable manner in a cross-section including the main axis (J). The planetary rollers (20) each have an annular recess (230) in the outer peripheral surface thereof centered on the support pin (21). The first rotating body (31) is in contact with the rolling surfaces (23) of the planetary rollers (20) from one radial side at a position axially below the recesses (230). The first rotating body (31) is in contact with the rolling surfaces (23) of the planetary rollers (20) from the one radial side at a position axially above the recesses (230). The third rolling body (33) is in contact with the recesses (230) in the planetary rollers (20) from the other radial side and is supported so as to be vertically movable relative to the planetary roller support sections (22).
F16H 15/52 - Gearings providing a continuous range of gear ratios in which a member of uniform effective diameter mounted on a shaft may co-operate with different parts of another member
F16H 15/04 - Gearings providing a continuous range of gear ratios
Provided is a mobile body control device, comprising an image capture unit, a specification unit, and a control unit. When included in a mobile body, the image capture unit captures at least a portion of the vicinity of the mobile body, and acquires an image. When an image of a person is included in the image which the image capture unit has captured, the specification unit defines the trunk of the person as a representative point from the image of the person. The control unit controls the movement of the mobile body on the basis of the location within the image of the representative point which the specification unit has defined.
A clay mixing apparatus includes a mixing chamber, a rotor arranged within the mixing chamber, a drive unit arranged to rotate the rotor, an ejecting unit, a pressure reducing unit; and an exhaust flow path. The rotor includes a shaft rotated by the drive unit, an extruding member and a mixing member. The mixing member includes a plurality of arms and a plurality of blades arranged at tip ends of the arms. The exhaust opening is opposed, in a radial direction about the center axis, to a portion of the mixing member lying near the extruding member and/or a portion of the extruding member lying near the mixing member.
B28C 1/16 - Apparatus or methods for obtaining or processing clay for processing clay-containing substances in non-fluid condition specially adapted for homogenising, comminuting or conditioning clay in non-fluid condition or for separating undesired admixtures therefrom for homogenising, e.g. by mixing, kneading
B01F 7/00 - Mixers with rotary stirring devices in fixed receptacles; Kneaders
B01F 7/04 - Mixers with rotary stirring devices in fixed receptacles; Kneaders with stirrers rotating about a horizontal or inclined axis with paddles or arms
B01F 13/06 - Mixers adapted for working at sub- or super-atmospheric pressure
B28B 3/22 - Producing shaped articles from the material by using pressesPresses specially adapted therefor wherein the material is extruded by screw or worm
B28C 1/22 - Apparatus or methods for obtaining or processing clay for processing clay-containing substances in non-fluid condition specially adapted for homogenising, comminuting or conditioning clay in non-fluid condition or for separating undesired admixtures therefrom combined with means for conditioning by heating, humidifying, or vacuum treatment
B28C 5/14 - Mixing in containers not actuated to effect the mixing with stirrers sweeping through the materials the stirrers having motion about a horizontal or substantially horizontal axis
88.
Splash pan of a pottery wheel and pottery wheel provided with the same
A splash pan of a pottery wheel arranged to cover bottom and side areas of a turntable, includes a plurality of split dish members split in a circumferential direction and provided with a clay-storing concave portion, the split dish members being separably connectable to each other through substantially horizontal movement thereof. The split dish members are two in number and include a first split dish member having boss portions formed on an outer surface thereof and a second split dish member having engagement portions engageable with the boss portions. The engagement portions are formed on an outer surface of the second split dish member in radial positions corresponding to the boss portions and opened toward the boss portions. The engagement portions of the second split dish member are elastically deformable when engaging with the boss portions of the first split dish member.
A gear device for which a commercially available bearing can be used, in which a tooth jump does not occur, and which has small moment of inertia. A rocking gear device (10) has a rigid internally toothed gear (20), a flexible externally toothed gear (30), and a rocking generator (40). The rocking generator (40) has two circularly outlined eccentric rollers (41) each provided with an eccentric cam (42) rotating on the center thereof eccentric a specific amount, a bearing (43), and a wheel (44). The eccentric rollers (41) are arranged overlapped on each other such that the centers of the circular outlines of the eccentric rollers (41) are spaced from each other a predetermined amount from the rotation axis XX in the directions opposite to each other. When the outer peripheral surface of an eccentric roller (41) makes contact with the inner peripheral surface of the flexible externally toothed gear (30) to deflect the flexible externally toothed gear (30) so that the flexible externally toothed gear (30) partially meshes with the rigid internally toothed gear (20), the curvature radius R at the point of meshing of the flexible externally toothed gear (30) satisfies the expressions of 2 × (ξ + R) = m × Zc and 2 × π × R + 4 × ξ = π × m × Zf (where R is the curvature radius the flexible externally toothed gear measured at the point of meshing, ξ is the amount of eccentricity of the eccentric rollers, m is a module, Zc is the number of teeth of the internally toothed gear, and Zf is the number of teeth of the externally toothed gear).
F16H 1/32 - Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
(1) Industrial machinery and apparatus namely stepless power transmission, vari-speeder; namely speed governors for machines, transmission gears (not for land vehicle propulsion), transmission gears (hydraulic) and machines and machine tools, motors (except for vehicles), machine couplings and beltings (except for vehicles), large size agricultural implements.
