An extendable and retractable arm mechanism includes a first structure group formed by coupling a plurality of first structures and a second structure group formed by coupling a plurality of second structures. Each of the first structures includes lock part for fixing the second structures. When the first structure group and the second structure group extend, the lock part fixes the second structures to the first structures.

An arrangement for determining the calibration position of a robot joint where the joint has a moveable joint element and a stationary joint element, where one of the joint elements has a holding structure and the other a force providing protrusion, a robot controller, a motor connected between the robot controller and the moveable joint element and a force receiving element adapted to form a kinematic coupling with the holding structure and the force providing protrusion, where the kinematic coupling has at least two areas of contact between the structure and the force receiving element and one area of contact between the force providing protrusion and the force receiving element, the force receiving element being fastenable to the holding structure for stretching out across a gap between the two robot joint elements for receiving a force from the force providing protrusion.

A rotary axis module includes: an input shaft connected to a drive motor; an output shaft, an output shaft flange connected to the output shaft; parallel gears coupled to the output shaft flange; at least two double gears; and a transfer gear that transmits the power of the drive motor to the double gears. The at least two double gears and the transfer gear are disposed so as to surround the output shaft.

Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.

Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.

A balanced planetary gearbox including an assembly having an input stage and an output stage. The assembly includes two grounds, each with ground rollers and ground rings. The two grounds are fixedly attached to one another. The assembly includes a sun gear and planet sub-assemblies between the two grounds. The planet sub-assemblies include at least one input planet gear and one output planet gear. The sun gear and the input planet gears include rollers. An abutment of rollers in the gearbox keeps the sun gear and the planet gears in alignment. The output gear meshes with an output ring disposed in between the two ground rings, such that a combination of the at least one input planet gears from each of the plurality of planet sub-assemblies provides a structural symmetry to the planetary gearbox.

A robot with a downsized joint unit is disclosed. The articulated robot includes a motor which is provided with a gear or a pulley at an end of a motor shaft, and which generates a force for driving a joint, a speed reduction mechanism which reduces the speed of rotation of the gear or pulley rotating integrally with the motor shaft, and a supporting member which supports the motor and the speed reduction mechanism, and which defines an interior space for accommodating the motor, wherein the supporting member has an opposing face opposing the motor in the interior space and spreading in a plane perpendicular to the motor shaft, and the opposing face includes a groove-like recessed portion recessed in a protruding direction of the motor shaft and extending in a direction perpendicular to the motor shaft.

On an inner peripheral surface of an outer peripheral member 10, a recess 11 is formed to which a pipe spring 30 is fitted. On an outer peripheral surface of an inner peripheral member 20 arranged concentrically with and rotatable relatively to the outer peripheral member 10 on an inner peripheral side of the outer peripheral member 10, a cam surface 21 is formed which abuts against the pipe spring 30. The cam surface 21 protrudes in the radial direction as it is farther away in the circumferential direction of the outer peripheral member 10 from the point of contact with the pipe spring 30 in the state where no load is applied.

A joint device for a robot includes a first frame, a motor fixed to the first frame, a flange rotated by the motor, and a second frame fixed to the flange. The first frame has an opening extending from a part of a lateral portion to a predetermined part of a bottom portion. An outer rim portion of the flange faces to the opening in the predetermined part. The outer rim portion has through-holes. An end portion of the second frame adjacent to the first frame includes a facing portion that faces to the outer rim portion, and screw holes provided on the facing portion. The flange is fixed to the second frame such that screws inserted into the respective through-holes are fastened to the respective screw holes of the second frame.

A joint mechanism includes: a first member; a second member; and a gear device that is provided between the first member and the second member and changes the number of revolutions at a predetermined ratio to transmit a drive force. The gear device includes a crank shaft on which a first eccentric portion is formed, a first oscillating gear that has first external teeth and an insertion hole into which the first eccentric portion is inserted, a carrier that retains the crank shaft rotatably, and an external cylinder that has an internal-tooth pin 3. The carrier and the external cylinder are configured to be displaced coaxially and relatively to each other due to oscillation of the first oscillating gear.