A modular robotic snake-arm assembly is described which is animated principally by an articulated drive shaft that threads the length of the snake-arm. The articulated drive shaft is driven by a motor in the fixed base. One or more clutch mechanisms in each segment couple with the articulated drive shaft so as to cause all snake arms further from the base to reorient in either one or two angles, in either direction. Snake-arm segments can be coupled end-to-end to form a robotic snake arm of great length.

A power generation controller of an aircraft includes a low-temperature start-up control section and a power generation control section. When it is determined that an oil temperature of a hydraulic actuator configured to change an operation position of a speed change element of a hydraulic transmission satisfies a predetermined low-temperature condition when starting up an aircraft engine, the low-temperature start-up control section sets a power generator to a power non-generating state and controls the hydraulic actuator such that the speed change element is positioned at an acceleration side of a median in a speed change range. When it is determined that the oil temperature satisfies a predetermined low-temperature start-up completion condition, the power generation control section sets the power generator to a power generating state and controls the hydraulic actuator in accordance with a rotational frequency of the aircraft engine.

A power generation controller of an aircraft includes a low-temperature start-up control section and a power generation control section. When it is determined that an oil temperature of a hydraulic actuator configured to change an operation position of a speed change element of a hydraulic transmission satisfies a predetermined low-temperature condition when starting up an aircraft engine, the low-temperature start-up control section sets a power generator to a power non-generating state and controls the hydraulic actuator such that the speed change element is positioned at an acceleration side of a median in a speed change range. When it is determined that the oil temperature satisfies a predetermined low-temperature start-up completion condition, the power generation control section sets the power generator to a power generating state and controls the hydraulic actuator in accordance with a rotational frequency of the aircraft engine.

A toroidal continuously variable transmission comprises an input disc and an output disc which are disposed to face each other; a power roller which is tiltably disposed between the input disc and the output disc and transmits a rotational driving force of the input disc to the output disc in a transmission ratio corresponding to a tilt motion angle of the power roller; a trunnion including a base on which the power roller is rotatably mounted, and a pair of side walls provided on both sides of the power roller in an axial direction of a tilt motion shaft of the power roller in such a manner that the pair of side walls extend upward from the base and face a peripheral surface of the power roller, and a beam mounted on the pair of side walls, the beam extending in the axial direction of the tilt motion shaft, on a side opposite to the base when viewed from a position of the power roller, wherein the beam includes a pair of contact portions, each of the contact portions being configured to contact an end surface of a tip end side of each of the pair of side walls, and a pair of restricting portions configured to contact side surfaces of the pair of side walls, respectively, the side surfaces facing each other, to restrict a movement of the pair of side walls in a direction in which the pair of side walls approach each other.

A toroidal continuously variable transmission comprises an input disc and an output disc which are disposed to face each other; a power roller which is tiltably disposed between the input disc and the output disc and transmits a rotational driving force of the input disc to the output disc in a transmission ratio corresponding to a tilt motion angle of the power roller; a trunnion including a base on which the power roller is rotatably mounted, and a pair of side walls provided on both sides of the power roller in an axial direction of a tilt motion shaft of the power roller in such a manner that the pair of side walls extend upward from the base and face a peripheral surface of the power roller, and a beam mounted on the pair of side walls, the beam extending in the axial direction of the tilt motion shaft, on a side opposite to the base when viewed from a position of the power roller, wherein the beam includes a pair of contact portions, each of the contact portions being configured to contact an end surface of a tip end side of each of the pair of side walls, and a pair of restricting portions configured to contact side surfaces of the pair of side walls, respectively, the side surfaces facing each other, to restrict a movement of the pair of side walls in a direction in which the pair of side walls approach each other.

The present disclosures relates to a toroidal continuously variable transmission which includes: a rotating shaft; a pair of outside disks supported by a rotating shaft to rotate in synchronization with the rotating shaft; an inside disk supported by the rotating shaft to rotate relative to the rotating shaft; a pair of rolling bearing units, each including a radial rolling bearing capable of supporting an axial load to support the inside disk so that relative rotation with respect to the rotating shaft is possible; a plurality of power rollers arranged between the axial inside surfaces the outside disks and the axial outside surfaces of the inside disk to transmit power between them; and a preloading mechanism elastically pressing the outer ring of the radial rolling bearing in the axial direction.

The present disclosures relates to a toroidal continuously variable transmission which includes: a rotating shaft; a pair of outside disks supported by a rotating shaft to rotate in synchronization with the rotating shaft; an inside disk supported by the rotating shaft to rotate relative to the rotating shaft; a pair of rolling bearing units, each including a radial rolling bearing capable of supporting an axial load to support the inside disk so that relative rotation with respect to the rotating shaft is possible; a plurality of power rollers arranged between the axial inside surfaces the outside disks and the axial outside surfaces of the inside disk to transmit power between them; and a preloading mechanism elastically pressing the outer ring of the radial rolling bearing in the axial direction.

Provided is a pressing device for a toroidal continuously variable transmission that is capable of sufficiently supplying lubrication oil to all rollers inside a pocket, and is capable of suppressing the occurrence of fretting wear on the rolling surfaces of the rollers, a first cam surface and a second cam surface. An oil passage 28 is provided for supplying lubrication oil to the inside of each pocket 25 in the inside portion in the radial direction of a retainer 14 that holds a plurality of more than one roller 13 arranged in a row in the radial direction. The center axis O.sub.29 of a discharge port 29 that is provided on an end portion on the downstream side of the oil passage 28 and that opens to the inside surface in the radial direction of the pocket 25 is inclined toward the front side in the rotational direction of the retainer 14 with respect to the center axis of the pocket 25.

Provided is a pressing device for a toroidal continuously variable transmission that is capable of sufficiently supplying lubrication oil to all rollers inside a pocket, and is capable of suppressing the occurrence of fretting wear on the rolling surfaces of the rollers, a first cam surface and a second cam surface. An oil passage 28 is provided for supplying lubrication oil to the inside of each pocket 25 in the inside portion in the radial direction of a retainer 14 that holds a plurality of more than one roller 13 arranged in a row in the radial direction. The center axis O.sub.29 of a discharge port 29 that is provided on an end portion on the downstream side of the oil passage 28 and that opens to the inside surface in the radial direction of the pocket 25 is inclined toward the front side in the rotational direction of the retainer 14 with respect to the center axis of the pocket 25.

A toroidal continuously variable transmission includes: input and output discs; a power roller sandwiched between the input disc and the output disc so as to be tiltable; a trunnion supporting the power roller and configured to be tiltable about a tilt axis of the power roller and reciprocatable in a direction along the tilt axis; a piston attached to a shaft portion of the trunnion so as to be externally fitted to the shaft portion; and a cylinder forming a pressure chamber which makes the piston reciprocate in the direction along the tilt axis. An inside gap is formed between an outer peripheral surface of the shaft portion of the trunnion and an inner peripheral surface of the piston.