Disclosed herein are various robotic surgical devices and systems that include first and second elongate bodies, first and second driveshafts disposed through the second elongate body, and an in-line shoulder joint with a robotic arm coupled thereto. In certain implementations, the in-line shoulder joint has a differential yoke and a dual shaft disposed within the yoke lumen.

A differential assembly provided with a power distribution unit includes a first housing, an output shaft, a shaft, and a torque limiter. The first housing defines a biasing member bore and a brake bore. The output shaft extends at least partially through the first housing. The shaft is disposed about the output shaft and extends between a first shaft end that is connected to a differential unit and a second shaft end. The torque limiter is disposed within the first housing and is arranged to selectively inhibit rotation of at least one of the output shaft and the shaft.

A solar tracking system is provided and includes a solar array, a support structure configured to support the solar array, a base configured to rotatably support the support structure, and an articulation system configured to articulate the support structure relative to the base. The articulation system includes a gearbox that is coupled to the support structure and an actuator that is configured to extend and retract. The actuator includes a first end portion and a second, opposite end portion, wherein the first end portion is rotatably coupled to the base and the second end portion is coupled to the gearbox. Extension of the actuator causes the support structure to rotate about the base in a first direction and retraction of the actuator causes the support structure to rotate about the based in a second, opposite direction.

A solar tracking system is provided and includes a solar array, a support structure configured to support the solar array, a base configured to rotatably support the support structure, and an articulation system configured to articulate the support structure relative to the base. The articulation system includes a gearbox that is coupled to the support structure and an actuator that is configured to extend and retract. The actuator includes a first end portion and a second, opposite end portion, wherein the first end portion is rotatably coupled to the base and the second end portion is coupled to the gearbox. Extension of the actuator causes the support structure to rotate about the base in a first direction and retraction of the actuator causes the support structure to rotate about the based in a second, opposite direction.

An axle coupler comprises driver teeth to engage teeth of a corresponding driver; a central aperture having a central axis and a circumference; and the central aperture including axle teeth circumferentially surrounding the central axis; each axle tooth having a first dimensional direction parallel to the central axis; each axle tooth having a second dimensional direction orthogonal to the first dimensional direction; a recess formed in each axle tooth to form a first axle tooth portion and a second axle tooth portion.

A driveline component with a differential having a differential gearset mounted in a differential case. The differential gearset has first and second side gears and one or more pinion gears that are meshed with the first and second side gears. The differential gearset is configured to limit inboard thrusting of the first and second side gears so that backlash will be always be present between the pinion gears and each of first and second side gears.

Disclosed herein are various robotic surgical devices and systems that include first and second elongate bodies, first and second driveshafts disposed through the second elongate body, and an in-line shoulder joint with a robotic arm coupled thereto. In certain implementations, the in-line shoulder joint has a differential yoke and a dual shaft disposed within the yoke lumen.

The driving apparatus comprising a first motor, a first gear mechanism having a first input shaft and a first output shaft connected to the first motor, a second motor, and a second gear mechanism having a second input shaft and a second output shaft connected to the second motor. The first gear mechanism is configured such that the first input shaft and the first output shaft are in an intersecting or twisted position, and the second gear mechanism is configured such that the second input shaft and the second output shaft are in an intersecting or twisted position.

A differential device includes: a pinion gear; a pinion shaft for rotatably supporting the pinion gear; a pair of side gears, which engage with the pinion gear and are fitted to a pair of drive shafts; a differential case, which supports the pinion shaft, houses the pinion gear and the side gears, and has an opening on one side of the drive shafts; and a differential cover, which has a hole through which one of the drive shafts penetrates, is fixed to the differential case, and closes the opening. Further, the differential cover has an oil passage which penetrates along the hole from an inner surface facing the side gears to an outer surface opposite to the differential case and through which a lubricating oil flows.

The present invention discloses a heavy-duty drive axle comprising a reduction gearbox and a drive motor; a differential case is provided within the reduction gearbox; a motor output shaft of the drive motor is linked with a first output shaft and a second output shaft via the differential case; the differential case consists of a differential holder, a connecting pole, a linkage gear and four bevel gears; each bevel gear is meshed with two bevel gears; the bevel gears comprise a first bevel gear, a second bevel gear, a third bevel gear and a fourth bevel gear, the first bevel gear and the second bevel gear are arranged oppositely, and the third bevel gear and the fourth bevel gear are arranged oppositely and sheathed on the connecting pole; the connecting pole is fixed with the differential holder; a cavity is formed within the differential holder; a through hole for fitting with the connecting pole is formed on each of an upper side and a lower side of the differential holder, and a third shaft hole and an opening are separately formed on a left side and a right side of the differential holder; the linkage gear is fixed at the opening of the differential holder; and the motor output shaft is linked with the linkage gear.