An electric actuator apparatus comprising: an electric motor, comprising in turn a stator and a rotor, which is configured to rotate about an axis according to the power transmitted by the stator; a control unit configured to control the electric motor via a feedback control; a position detection system configured to provide the control unit with an angular position of the rotor; a reading portion, which is integral to the rotor and provided with an encoded surface on which a plurality of codes that can be associated with the angular position of the rotor are fixed; an optical or laser sensor element, which is arranged integral to the stator and so as to point toward the encoded surface.

An instrument drive mechanism comprises an outer shell having an open-ended receptacle. An internal gear is secured inside the open-ended receptacle and immovable relative to the outer shell. An interface cover is rotatably mounted to the open-ended receptacle, the interface cover configured to be connected to an instrument, the interface cover rotatably supporting at least one cover shaft with an output adapted to be rotatingly coupled to the instrument. A drive system is rotatably mounted to the open-ended receptacle and connected to the interface cover to rotate with the interface cover, the drive system having at least two motor units, a coupling assembly between each of the at least one cover shaft and a corresponding one of the motor units for releasably coupling a motor unit shaft to the cover shaft, for the at least one said motor unit coupled to each said at least one cover shaft to transmit a degree of actuation thereto, and one said motor unit having a gear coupled to internal gear to drive a rotation of the interface cover and drive system relative to the outer shell.

An instrument drive mechanism comprises an outer shell having an open-ended receptacle. An internal gear is secured inside the open-ended receptacle and immovable relative to the outer shell. An interface cover is rotatably mounted to the open-ended receptacle, the interface cover configured to be connected to an instrument, the interface cover rotatably supporting at least one cover shaft with an output adapted to be rotatingly coupled to the instrument. A drive system is rotatably mounted to the open-ended receptacle and connected to the interface cover to rotate with the interface cover, the drive system having at least two motor units, a coupling assembly between each of the at least one cover shaft and a corresponding one of the motor units for releasably coupling a motor unit shaft to the cover shaft, for the at least one said motor unit coupled to each said at least one cover shaft to transmit a degree of actuation thereto, and one said motor unit having a gear coupled to internal gear to drive a rotation of the interface cover and drive system relative to the outer shell.

Disclosed is a dual-sensing feedback and transmission system for a linear motor. The system includes a linear motor, a transmission mechanism, and a dual-sensing displacement detection mechanism. One end of the transmission mechanism is fixedly connected to a mover of the linear motor, and the other end thereof is located outside a stator of the linear motor and fixedly connected to a leaf of a multi-leaf collimator directly or by means of a connecting block. The dual-sensing displacement detection mechanism is a dual-sensing linear displacement sensor, and includes two sets of reading devices for reading displacement information, and a matching reference ruler. The reading devices are fixed to an end or exterior of a casing of the stator of the linear motor close to the leaf of the multi-leaf collimator. The reference ruler is fixed onto a connecting rod.

In a motor according to an aspect of the invention, a brake includes a first clamp and a second clamp, a member to be clamped disposed between the first clamp and the second clamp, a first fixing member configured to fix the member to be clamped to a shaft, and a driving section configured to bring the first clamp and the second clamp into contact with the member to be clamped. The first clamp includes a first contact section. The second clamp includes a second contact section. A first housing hole is provided in a housing. The driving section includes a power cable drawn out to the outside of the housing via the first housing hole. The first housing hole overlaps the first contact section, the second contact section, the member to be clamped, and the first fixing member in a plan view from a first radial direction.

In a motor according to an aspect of the invention, a brake includes a first clamp and a second clamp, a member to be clamped disposed between the first clamp and the second clamp, a first fixing member configured to fix the member to be clamped to a shaft, and a driving section configured to bring the first clamp and the second clamp into contact with the member to be clamped. The first clamp includes a first contact section. The second clamp includes a second contact section. A first housing hole is provided in a housing. The driving section includes a power cable drawn out to the outside of the housing via the first housing hole. The first housing hole overlaps the first contact section, the second contact section, the member to be clamped, and the first fixing member in a plan view from a first radial direction.

An aspect of a motor according to the invention includes a stator, a rotor, a detector configured to detect a rotating position of the rotor, a holder disposed between the stator and the detector in the predetermined direction, and a bearing held by the holder and configured to rotatably support the shaft. A recess opened toward the stator and housing the bearing and an injection hole including a first opening opened toward the detector, the injection hole communicating with the recess, are provided in the holder. A groove into which an adhesive is injected is provided on the inner surface of the recess. The outer circumferential surface of the bearing is fixed to the inner surface via the adhesive. The injection hole includes a second opening opened in the inner circumferential surface of the recess and connected to the groove. The injection hole is closed by a screw.

An aspect of a motor according to the invention includes a stator, a rotor, a detector configured to detect a rotating position of the rotor, a holder disposed between the stator and the detector in the predetermined direction, and a bearing held by the holder and configured to rotatably support the shaft. A recess opened toward the stator and housing the bearing and an injection hole including a first opening opened toward the detector, the injection hole communicating with the recess, are provided in the holder. A groove into which an adhesive is injected is provided on the inner surface of the recess. The outer circumferential surface of the bearing is fixed to the inner surface via the adhesive. The injection hole includes a second opening opened in the inner circumferential surface of the recess and connected to the groove. The injection hole is closed by a screw.

A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.

A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.