Embodiments of the present application provide an antenna adjustment apparatus. The antenna adjustment apparatus includes a first drive wheel, a first gear, a second drive wheel, a second gear, and multiple output gears. The first drive wheel is meshed with the first gear, the second drive wheel is meshed with the second gear, an axis of the second gear coincides with an axis of the first drive wheel, and the output gears are connected to the phase shifters. When the second drive wheel propels the second gear to rotate, the first gear revolves around the axis of the second gear, is selectively meshed with one of the output gears, and is driven by the first drive wheel to propel the output gear to rotate and drive the phase shifter connected to the output gear.

A harmonic drive comprises a wave generator, a resilient, geared transmission element that can be deformed by the wave generator, a connecting element on the housing side, and a connecting element on the output side. The resilient transmission element has two different tooth systems, a spline tooth system and a running tooth system; the spline tooth system is coupled along the entire circumference to one of the connecting elements for conjoint rotation therewith, and the running tooth system is provided for cooperation with the wave generator and partial engagement in a mating running tooth system on the other connecting element.

A strain wave gearing has a rigid internally toothed gear, a flexible externally toothed gear, and a wave generator. Before being flexed by the wave generator, the externally toothed gear has a cylindrical body part, an inside diameter of which is such that the inside diameter D is smallest at a rear end thereof and increases gradually from the rear end to an opening end thereof. After being flexed by the wave generator, D1D is satisfied where D1 is the minor diameter of an elliptical inner circumferential surface of the opening end of the cylindrical body part. The externally toothed gear, which is provided with such a tapered cylindrical body part, is suitable for manufacturing by die molding such as casting, and can also alleviate excessive uneven contact thereof with a wave bearing.

In a strain wave gearing, a flexible externally toothed gear flexed by a wave generator meshes with a flexible internally toothed gear while in an overlapping meshing state. A floating ring, which supports the internally toothed gear from the outer circumferential side, maintains the overlapping state of the meshing and supports the internally toothed gear in a floating state that allows displacement following a state of radial flexion in the tooth trace direction of the internal teeth of the internally toothed gear. Differences between the meshing states of both gears can be alleviated at each position in the tooth trace direction. Degradation in the transmission characteristics and the strength characteristics of the strain wave gearing caused by manufacturing dimensional accuracy of each component and assembly accuracy can be suppressed.

Aspects of the disclosure provide an electric actuator including a fail-safe mode of operation. The electric actuator includes a mechanical stop coupled to the output through the transmission, and a brake coupled to the second driving source through the transmission, the brake being engaged to establish the first pathway through the transmission between the first driving source and the output, the brake being disengaged to establish the second pathway through the transmission between the second driving source and the output, and the mechanical stop being engaged to restrict the output from rotating beyond the fail-safe position and the brake being disengaged to establish the third pathway through the transmission between the first driving source and the second driving source.

Aspects of the disclosure provide an electric actuator including a fail-safe mode of operation. The electric actuator includes a mechanical stop coupled to the output through the transmission, and a brake coupled to the second driving source through the transmission, the brake being engaged to establish the first pathway through the transmission between the first driving source and the output, the brake being disengaged to establish the second pathway through the transmission between the second driving source and the output, and the mechanical stop being engaged to restrict the output from rotating beyond the fail-safe position and the brake being disengaged to establish the third pathway through the transmission between the first driving source and the second driving source.

Embodiments of the present application provide an antenna adjustment apparatus. The antenna adjustment apparatus includes a first drive wheel, a first gear, a second drive wheel, a second gear, and multiple output gears. The first drive wheel is meshed with the first gear, the second drive wheel is meshed with the second gear, an axis of the second gear coincides with an axis of the first drive wheel, and the output gears are connected to the phase shifters. When the second drive wheel propels the second gear to rotate, the first gear revolves around the axis of the second gear, is selectively meshed with one of the output gears, and is driven by the first drive wheel to propel the output gear to rotate and drive the phase shifter connected to the output gear.

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

Aspects of the disclosure provide an electric actuator including a fail-safe mode of operation. The electric actuator includes a mechanical stop coupled to the output through the transmission, and a brake coupled to the second driving source through the transmission, the brake being engaged to establish the first pathway through the transmission between the first driving source and the output, the brake being disengaged to establish the second pathway through the transmission between the second driving source and the output, and the mechanical stop being engaged to restrict the output from rotating beyond the fail-safe position and the brake being disengaged to establish the third pathway through the transmission between the first driving source and the second driving source.

Aspects of the disclosure provide an electric actuator including a fail-safe mode of operation. The electric actuator includes a mechanical stop coupled to the output through the transmission, and a brake coupled to the second driving source through the transmission, the brake being engaged to establish the first pathway through the transmission between the first driving source and the output, the brake being disengaged to establish the second pathway through the transmission between the second driving source and the output, and the mechanical stop being engaged to restrict the output from rotating beyond the fail-safe position and the brake being disengaged to establish the third pathway through the transmission between the first driving source and the second driving source.