There is a demand for further improving efficiency of a task of replacing the reduction gear of the robot. A jig configured to support a reduction gear connecting a first element and a second element of a robot to be enabled to perform a speed reduction operation on each other, when the second element is separated from the first element includes a fixed portion removably mounted to the first element or the second element, a movable portion rotationally or translationally movably mounted to the fixed portion, and a support mounted to the movable portion and configured to suspend and support the reduction gear in a gravity direction.

The oil content of at least two kinematic modules (1) in different axes of the industrial robot is connected by the oil line (2) to the closed circuit of the oil between interconnected kinematic modules (1). In preferred arrangement, the system includes the pump (3) engaged in pushing the oil in the upper-mounted kinematic module (1) and also the filtration device (4) for filtering the oil in the circulating circuit or in a separate circuit with the oil tank (9). The system may also include at least one diagnostic element (5), for example an oil temperature sensor or an oil pressure sensor or an oil pollution sensor connected to the evaluation unit (6). The evaluation unit (6) can be interconnected with the industrial robot control system, whereby the oil economy is controlled and planned depending on the actual load of the individual kinematic modules (1). By this arrangement, you can achieve the condition in which the oil from the kinematic module (1) circulates in shared circulation with the oil from another kinematic module (1), whereas the oil gets purified through the filter device (4) by using the pump (3).

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.

A method for charging a service robot and a service robot are disclosed. The method comprises: collecting an audio signal generated by a sound source of a charging pile; determining a direction of the sound source according to the collected audio signal; controlling a robot main body to move toward the direction of the sound source, to shorten a distance between the robot main body and the charging pile; judging whether the infrared receiver array has received an infrared pulse signal emitted by the infrared emitter array of the charging pile; and when the infrared receiver array has received the infrared pulse signal, controlling the robot main body to move toward a direction of the charging pile according to the infrared pulse signal, to engage a charging component of the robot main body with a charging contact element of the charging pile.

A robotic system includes a robotic manipulator having one or more contact pads. The contact pads have features therein that are detectable to determine or measure a degree to which they have worn down. Such features may include fluorescent materials, colorful materials, and/or RFID tags. A robotic environment may include one or more sensors to detect such features, and may be configured to generate a signal indicating that one or more contact pads are in need of maintenance.

A remote arm for a manipulator is disclosed, which has a boom tube having a distal end and housing a mechanical communication chain. A floating gearbox assembly is coupled to the boom tube and has an outer framework rigidly coupled to the distal end of the boom tube. An inner framework is retained by the outer framework and is rotatable relative to the outer framework. A drive gear is disposed in the inner framework. which is in mechanical communication with the mechanical communication chain. A wrist joint has a wrist joint housing and an output gear is disposed in the wrist joint housing, where the wrist joint housing is configured to detachably couple to the outer framework. The output gear is configured to mechanically communicate with the drive gear when the wrist joint housing is coupled to the outer framework.

A maintenance management apparatus manages maintenance of a gas spring provided in an arm of an articulated robot and includes a gas pressure measuring unit that measures a gas pressure inside the gas spring on a regular basis, a maintenance judgement unit that judges whether an abnormality is present in the gas spring based on an amount of decrease in the gas pressure per unit time or per unit operating distance, and a notifying unit that sends a notification based on a judgment result by the maintenance judgement unit to an operator.

In a spring balancer apparatus, a flange includes a through-hole and a first and second flange member, the first flange member positioned radially inside a compression spring and removably held on another end of the shaft by a first nut member fastened to a first external thread on the shaft, the second flange member including a central hole and removably fixed to an outer periphery of the first flange member from a rear end plate side. The rear end plate of a casing includes an abutting part on which an outer periphery of the second flange member abuts, and an opening through which a surface of the second flange member is externally exposed at a position radially inside the abutting part and radially outside the central hole. At least one of a front end plate and the rear end plate is removably fixed to a cylindrical body of the casing.

A parallel link robot includes a base portion; a movable portion that is disposed below the base portion; a plurality of arms that link the base portion and the movable portion so as to be parallel to each other; and a wrist shaft that is supported by the movable portion so as to be rotatable about a rotation axis in a substantially vertical direction. A pair of marks indicate a relative phase between the movable portion and the wrist shaft about the rotation axis are on the movable portion and the wrist shaft, at positions visible from the upper side or the lateral side.

A robot includes one or more joints. At least the one joint includes: a first joint member and a second joint member disposed so as to be relatively rotatable around a predetermined axis; a reducer that relatively rotatably supports the first and second joint members around the axis on one side in a direction of the axis of the first joint member; and a bearing that supports the first and second joint members relatively rotatably around the axis and relatively movable in a direction along the axis on another side in the direction of the axis of the first joint member, the first and second joint members include respective flange surfaces perpendicular to the axis and facing each other in the direction of the axis, and each of the flange surfaces includes a screw hole or a through hole for closely adhering the flange surfaces by fastening of a bolt.