Rotary actuator equipped with sensing mechanism, and joint unit
Granted: July 7, 2015
Patent Number:
9077228
A rotary actuator equipped with a sensing mechanism includes a motor and a reducer concentrically disposed inside a cylindrical housing; a scale for detecting the rotational position of a rotary arm, the scale being disposed on the circular outer face of the cylindrical housing; and a position sensor mounted in the facing section of the rotary arm that rotates along the circular outer face, the facing section being in a facing arrangement with the circular outer face. A detection…
Positioning control system for actuator provided with wave gear device
Granted: July 7, 2015
Patent Number:
9075399
A positioning control system for an actuator provided with a strain wave gearing is provided with: a semi-closed feedback controller FB(s) that controls a load shaft position ?1 on the basis of a feedback motor shaft position ?m; and a feedforward linearization compensator configured by incorporating a nonlinear plant model for an object to be controlled into a feedback linearization compensator using an exact linearization technique. The feedforward linearization compensator uses a…
Concentric multi-axis actuator
Granted: June 16, 2015
Patent Number:
9057429
A concentric double axis actuator has a two-stage cross roller bearing, and a preceding-stage actuator and a subsequent-stage actuator which are linked in tandem. The front end of a subsequent stage rotary output shaft of the subsequent actuator, said subsequent stage rotary output shaft passing through a hollow section of the preceding-stage actuator and projecting forward, is linked and fixed to an inner ring of the two-stage cross roller bearing, and the inner ring functions as a…
Wave gear device having three-dimensional contacting involute positive deflection tooth profile
Granted: June 16, 2015
Patent Number:
9057421
In a wave gear device, an involute tooth profile with the low pressure angle ? (<20°) is employed as a basic tooth profile of external teeth of a flexible external gear. In the principal section of the external teeth, the tooth depth thereof satisfies 2?0mn=2(1+c) mn (deflection coefficient ?0=1+c, 0<c<0.5), which is larger than the standard one. The shifting of the teeth which takes into account coning is performed along the tooth trace direction of the external teeth, so that…
Wave gear device having three-dimensional-contact tooth profile
Granted: June 9, 2015
Patent Number:
9052004
In a wave gear device, similarity-curve tooth profiles BC and AC are adopted as addendum tooth profile shapes for gears, the tooth profiles being derived from a movement trajectory M1 of an external tooth of a flexible externally toothed gear having zero deviation (?=1), in relation to an internal tooth at a main cross-section. Profile shifting is performed on the external tooth along the tooth trace for a movement trajectory M3 of the external tooth to share a bottom portion with the…
Self-calibration method for angle detector, angle detector, circumferential scale calibration device, and angle detector calibration device
Granted: June 2, 2015
Patent Number:
9046384
In a self-calibration method of an angle detector, an angle interval between first and second scale reader heads are set, so that a single rotation is not equally divided into an integer number of portions by a value of the angle interval and that a plurality of rotations N are equally divided into M equal portions by the value of the angle interval. Readings by the scale reader heads during N rotations of the divided circle are obtained at a pre-set data sampling interval. From…
Digital up converter
Granted: May 12, 2015
Patent Number:
9031142
A method that includes providing to multiple inverse fast Fourier transform (IFFT) and polyphase circuits multiple baseband channels so that different IFFT and polyphase circuits receive different sets of baseband channels; applying IFFT operations and the polyphase filtering operations by the multiple IFFT and polyphase circuits to provide multiple converted channels; wherein different IFFT and polyphase circuits output different sets of converted channels that at least partially…
Positioning apparatus for actuator with wave gear device
Granted: April 14, 2015
Patent Number:
9008843
In a positioning apparatus for an actuator, a sliding mode controller for compensating for nonlinear characteristics of a wave gear device of the actuator generates a control input u to a controlled object, based on a position command ?l* and a state variable x for expressing the controlled object. The controlled object is defined in the following formula. {dot over (x)}=Ax+Bu+E?l* y=Cx The switching surfaces of the sliding mode control system are defined by a variable S expressed in…
Wave gear device and flexible externally toothed gear
Granted: April 14, 2015
Patent Number:
9003924
A cup-shaped flexible externally toothed gear of a wave gear device comprises a cylindrical body part, and an external-teeth area thereof includes a pushed portion pushed radially outward by a wave generator and a groove formed in a position adjacent to the pushed portion toward a diaphragm. The reaction force of the wave generator can be reduced because the groove is formed to partially reduce thickness in a portion that does not affect the root strength of the external teeth. The…
Sealed rotational output unit and sealed motor assembly
Granted: April 7, 2015
Patent Number:
9000643
Provided with a sealed rotational output unit (3) which includes a tubular shaft (12) having an outer circumferential surface sealed with a ferrofluidic seal (13); a rotating output shaft (14) disposed inside the tubular shaft (12); and an O-ring (17, 18) that seals between the tubular shaft (12) and the rotating output shaft (14). When the rotating output shaft (14) is directly coupled to a hollow motor shaft (9), shaking thereof is absorbed by the O-ring (17, 18), causing no excessive…
Wave gear device and flexible internally toothed gear
Granted: April 7, 2015
Patent Number:
8997607
In a wave gear device, an annular rigid externally toothed gear is disposed on the inner side of a cup-shaped flexible internally toothed gear. An internal-tooth-formation portion of the flexible internally toothed gear and a pushed portion pushed by a wave generator and flexed ellipsoidally are formed in different positions along the center axis line. The wave generator is disposed on the inner side of the flexible internally toothed gear, the pushed cylindrical portion is pushed from…
Wave gear unit with input bearings
Granted: March 31, 2015
Patent Number:
8991282
A wave gear unit has an input shaft positioned along a center axis by first and second input bearings. A first unit end plate at the first-input-bearing side is a composite member in which a bearing housing member of an iron-based material is integrated with an end plate main body member of a lightweight material. A second unit end plate at the second-input-bearing side is integrated with a rigid internally toothed gear, and is a composite member in which a second member of a lightweight…
Wave gear device provided with tapered flexible externally toothed gear
Granted: December 16, 2014
Patent Number:
8910545
In an elliptical rim neutral line of each axially perpendicular cross section in a tooth trace direction of a flexible externally toothed gear of a wave gear device, external teeth are applied with addendum modification along the external teeth tooth trace direction so that the bending stress generated at the root rim surface of the external teeth that is caused by flexing of the flexible externally toothed gear is averaged out, the maximum value thereof can be reduced, and the…
Modification and distribution of video content
Granted: December 9, 2014
Patent Number:
8910202
A data stream processing system receives a transport stream containing single/multiple program/s and receives alternate content. The system identifies portions of the transport stream to replace with the alternate content. An alternate content data stream is generated that includes the alternate content and at least one sync packet. The sync packet enables synchronous replacement of the alternate content into the transport stream. The system then distributes the alternate content data…
Unit type wave gear device
Granted: November 4, 2014
Patent Number:
8875598
A unit type wave gear device (1) has a unit housing (2), one end of which is defined by a two-stage cross roller bearing (7). The two-stage cross roller bearing (7) has: an inner cross roller bearing formed by an inner ring (13), an intermediate ring (12), and inner rollers (17) inserted into an inner track (16); and has an outer cross roller bearing formed by an outer ring (11), the intermediate ring (12), and outer rollers (15) inserted into an outer track (14). A flexible…
H.264/AVC based approach to scalable video compression
Granted: October 21, 2014
Patent Number:
8867624
A scalable video compression method and apparatus for encoding an input frame sequence having temporally sequential frames includes partitioning each of the frames of the input frame sequence into a top field and a bottom field to form a base layer sequence of fields and an enhancement layer sequence of fields. The base layer sequence and the enhancement layer sequence each comprise temporally alternating top and bottom fields of the partitioned frames of the input frame sequence. The…
Systems and methods for segmenting and communicating video data
Granted: October 21, 2014
Patent Number:
8867608
A data processing system receives video data from a data source and separates the video data into multiple video data segments. Each of the multiple video data segments are substantially the same size. The system generates a data segmentation element associated with each video data segment. The data segmentation element describes content in the associated video data segment. Each video data segment and the associated data segmentation element are communicated to a destination device.
Planetary differential reduction device
Granted: October 21, 2014
Patent Number:
8864617
When a first output shaft (5) of a planetary differential reduction device (1) is driven to rotate, a first internal gear (24) of a first planetary reduction part (20) and a second internal gear (34) of a second planetary reduction part (30) are rotated in the same direction at the same speed, and a planetary carrier (63) of a third planetary reduction part (40) is also rotated in the same direction at the same speed, whereby a second output shaft (6) connected to the planetary carrier…
Retainer for roller bearing and needle roller bearing
Granted: October 21, 2014
Patent Number:
8864387
A retainer for a roller bearing holds needle rollers within slit-shaped pockets which are formed separately by means of partitions arranged with a fixed pitch in the circumferential direction. Each partition is equipped with two side faces, which face the sides of the adjacent partitions, and an outer-circumferential-side end face, which faces the outer circumferential side of the retainer, and retaining protrusions are formed at the corner parts where the outer-circumferential-side end…
Magnetic absolute encoder and motor
Granted: September 30, 2014
Patent Number:
8847585
A magnetic absolute encoder includes: a board-holding assembly mounted to a motor case assembly side; and a flexible printed wiring board which is held, by the board-holding assembly, in the shape of a loop surrounding multipolar and bipolar ring magnets. On the flexible printed wiring board, multipolar-side hall elements and bipolar-side hall elements are mounted and a wiring pattern relating to the hall elements are printed. The assembling work and wiring work of the magnetic absolute…
