Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing automated safety procedures for a robot. One of the methods includes receiving, by a robotic control system for a robot, a request to execute an automated safety procedure by a safety control subsystem for the robot. Each step of the automated safety procedure is iterated until an end of the automated safety procedure is reached, including if a step requires a new safety configuration, a respective safety configuration for the step is obtained and activated before performing one or more automatic actions for the step.

An abnormality detecting device determines an abnormality in an apparatus by comparing data on vibration detected in the apparatus with a predetermined threshold. Moreover, the abnormality detecting device changes the threshold depending on a length of work time required for the apparatus to perform a certain work.

A gripper for a handling assembly grasps an object. The gripper includes: a coupler for mounting to the object; and a base body mountable to the handling assembly. The base body includes: a housing; a clamping bracket at an outside of the housing; and a clamping mechanism in the housing, connected to the clamping bracket. The clamping bracket has latched and unlatched states. In the latched state, the clamping bracket is drawn close to the housing. In the unlatched state, the clamping bracket is pushed away from the housing to receive the coupler between the clamping bracket and the housing. The clamping mechanism is activated by pneumatic/hydraulic driving to force the clamping bracket to change from the latched to the unlatched state, and deactivated such that the clamping bracket returns to the latched state, thereby clamping the coupler to the housing.

Provided is a robot calibration method for calibrating a position of an arm tip of a robot, the method including measuring a relative positional relationship between a first link and a second link on opposite ends of at least three links which are connected to each other so as to execute collective calibration for at least two joint axes between the at least three links, measuring a relative positional relationship between a base and a link connected to the base to execute independent calibration for a joint axis between the base and the link, or measuring a relative positional relationship between the first link and another link as to execute independent calibration for a joint axis between the first link and the other link, and calibrating the position of the arm tip based on the collective and the independent calibrations.

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.

A state monitoring device monitors a state of a robot capable of playing back a predetermined operation. A time-series data acquirer acquires time-series data of state signals for a period of time from the timing of an acquisition start signal indicating a start of acquisition of a state signal reflecting a state of the robot to the timing of an acquisition end signal indicating an end of acquisition of the state signal. The time-series data is stored in association with timing information indicating the timing of acquisition and playback identification information identifying a playback operation of the robot. A dissimilarity calculator calculates dissimilarity between reference data based on the time-series data acquired in at least one operation and comparison data based on the time-series data acquired in an operation performed after the acquisition of the time-series data pertaining to the reference data. The robot state evaluator uses the dissimilarity as an evaluation quantity to evaluate the state of the robot.

A maintenance apparatus of a robot includes a pair of parallel rails removably installed on opposite sides in a predetermined direction to a robot, and a number of sliders, at least one of the number of sliders is attached to each of the pair of rails, and each of the sliders is configured to support an arm part or a reducer of the robot, and move the supported arm part or reducer along the rails.

An apparatus for the robot-assisted machining of surfaces is described. In accordance with one embodiment, the device comprises the following: a support which can be mounted on a manipulator, a machining device with a tool (e.g. a grinding disc) and a linear actuator for adjusting the relative position of a tool in relation to the support. The apparatus further has a maintenance unit comprising a swiveling bracket. The bracket is swivel-mounted on the support such that, by swiveling the bracket, the maintenance unit can be positioned at least partially before the tool.

Embodiments of the present disclosure provide a sealing structure for a robot joint. The sealing structure comprise a first sealing member adapted to be connected to a first part of the robot joint and a second sealing member adapted to be arranged between the first sealing member and a second part of the robot joint and in contact with the first sealing member. The first part is rotatable with respect to the second part. A material of the first sealing member is harder than the material of the second sealing member. With such a sealing structure, the reducer is closely sealed from the ambient environment. In this way, the leakage of the reducer can be prevented for an extended period even in harsh conditions and thereby the service life of the robot joint can be prolonged.

The disclosed solution comprises a device for changing abrading products (30), the device (1) comprising a detacher (2) comprising a table (10), a blade (14) adapted to penetrate into between an abrading product (30) and the gripping means (34) of the abrading tool (4), and means (16, 18, 19) to co-planarly adjust the mutual distance (d) between the table (10) and the blade (14) to correspond to the thickness (t) of the abrading product (30) in the absence of the abrading product (30).