The invention relates to a testing device for material wear of cycloidal gear and needle bearing of RV reducer, comprising: an upper cover (1), a lower cover (2), two sliding shafts (3 and 3′), two connecting shafts (4 and 4′), a driven shaft component (5), two copper sleeves (6 and 6′), two nuts (7 and 7′), two disc springs (8 and 8′), an eccentric shaft component (9), a needle bearing (10), two planetary gears (11 and 11′), two cycloidal gears (12 and 12′), and a motor assembly (13). The device can be installed on various industrial platforms. The motor drives the planetary gear to rotate, and then drives the eccentric shaft to rotate. The first bearing hole of the cycloidal gear fits with the needle bearing and forms a revolute pair with the eccentric shaft. Owning to the eccentric shaft, the cycloidal gears (12 and 12′) are driven to swing. The other bearing hole fits with the sliding shaft (3 and 3′) and the connecting shaft (4 and 4′) to form a loaded rolling friction pair. Then the cycloidal gear drives the sliding shaft to perform reciprocating movement along the track of cavity. The connecting shaft (4 and 4′) and the sliding shaft (3 and 3′) exert the load on the cycloidal gear (12 and 12′) and needle bearing (10) by compressing the disc springs via the nuts. After a specified time of operation, measure the diameter of bearing holes of cycloidal gear and the outer diameter of needle bearing, then evaluate the material wear of the two components. It provides reliable testing data for the selection of material and the determination of heat treatment process of the cycloidal gear and needle bearing. The invention solves the difficult problem for measuring the material wear of cycloidal gear and needle bearing, which are the key components of RV reducer.

Provided is a control system of an industrial robot that enables a robot to be stopped safely while reducing a load on a mechanical unit and avoiding interference with the peripheral environment when a command for which an excessive load is applied to the mechanical unit of the robot is received. A control system of an industrial robot includes: a setting unit configured to set in advance a first threshold value, a second threshold value smaller than the first threshold value, and a grace time; a determination unit configured to determine whether a command signal for controlling a robot has exceeded the first threshold value or the second threshold value; and a control unit configured to, in a case in which the command signal is determined as exceeding the second threshold value by the determination unit, continues the control according to the command only during the period until a grace time elapses since exceeding the second threshold value, and stop the robot at a timing at which an operation speed of the robot becomes equal to or less than a predetermined operation speed that is determined in advance.

An arm fixing device that fixes a first arm to a support member, the movable arm being pivotally supported on a base about a second axis, the movable arm being driven to pivot about the second axis by power of a servomotor, the arm fixing device including: an attachment portion that is position-adjustable in a circumferential direction and detachably attached to the base; a pair of protrusion fixing portions that, in a state in which the attachment portion is attached to the base, extend in a radial direction with respect to a second axis and are disposed at positions interposing a protruding portion therebetween in the circumferential direction, the protruding portion being provided in the first arm and protruding in the second axis direction; and a connecting portion 13b that connects the distal ends of the protrusion fixing portions to each other.

An actuator module is provided. The actuator module includes a motor part including a drive shaft and a drive part configured to rotate the drive shaft, a reducer installed on one side of the drive part and configured to increase an output torque according to driving of the motor part, a brake installed on an opposite side of the drive part and configured to suppress rotation of the motor part, an encoder installed on one side of the brake and configured to sense an operation of the drive shaft, a controller installed on one side of the encoder and electrically connected to the motor part to control the motor part, and a first housing configured to surround the motor part, the reducer, the brake, the encoder and the controller. An airflow path through which an airflow can flow is formed to extend from the motor part.

An articulation for a robot, in particular a collaborative robot, includes as components a drive, a transducer for providing information relating to a rotational speed, commutation and/or position, and a plurality of heat exchanger tubes for removing heat from the components, with a first one of the heat exchanger tubes touching a first subset of the components, and with a second one of the heat exchanger tubes touching a second subset of the components.

A robotic system with independently controllable higher derivatives is disclosed. An indication is received of a trajectory through which an end effector comprising a robotic arm is to be moved. A plan is determined to use a combination of one or more motors and one or more energy removal devices to move one or more elements comprising the robotic arm in a manner that will result in the end effector being moved through the trajectory, including by using the one or more motors to apply torque to said one or more elements comprising the robotic arm during a first interval and using the one or more energy removal devices to remove energy from one or more of said elements during a second interval that starts after the start of the first interval. Commands to implement the plan are sent via a communication interface.

A stiffening element to provide variable resistance to movement between a pair of members at a joint. The stiffening element comprises a filler with particles flowable in a bladder. A pressure source is coupled to the bladder to vary a pressure within the bladder and collapse the bladder. Collapsing the bladder varies a flow characteristic of the filler within the bladder, Varying the flow characteristics of the filler varies resistance of the bladder to movement of the bladder, and thus a pair of movable members and the joint.

A suspension device of suction pads of industrial manipulators is described, which can also be defined as level compensator. The device includes a body and a telescopic stem passing through the body, and sliding between an extended position and a retracted position. A spring constantly applies a thrust on the stem to bring it to the extended position. The device is hollow to allow the suction of the air from the suction pad constrained to the stem. Advantageously the suspension device comprises a brake which can be activated to brake, i.e., slow down, the stroke of the stem or stop it completely.

A variety of brake and/or clutch mechanisms, and improvements thereof, are provided having improved braking power, reduced size and weight, and other benefits. The braking mechanisms include a wrap spring clutch that is operable to mechanically couple a rotating member to a brake rotor that is in consistent contact with a brake pad. Actuation of the wrap spring clutch allows the wrap spring to engage with the rotating member, coupling the rotating member to the brake rotor thus braking the rotating member. The combination of the wrap spring clutch with the brake rotor and pad provides an overall braking mechanism that exhibits the decreased power cost, weight, size, and engagement time of the wrap spring clutch while having a braking power that can be moderated by specifying the area, engagement force, coefficient of friction, or other properties of the brake rotor and pad.

The present application provides a brake apparatus for a rotating component, a robot joint and a robot including the same. The brake apparatus includes: a locking component including a locking end provided with a first magnet; and a brake component including a mounting portion connected to the rotating component and a plurality of brake ends provided on the mounting portion along a circumferential direction of the mounting portion. Each of the plurality of brake ends is provided with a second magnet. A side of the first magnet facing the brake component is configured to have same polarity as sides of the second magnets facing the locking component. A distance from the first magnet to a rotary axis of the rotating component is substantially the same as distances from the second magnets to the rotary axis of the rotating component.