A 3D spring array device includes: a fixed body having an internal space therein; a moving body positioned in a center of an x-y-z orthogonal coordinate system in the internal space, wherein the moving body is configured to be fastenable to the end effector of the mechanical impedance estimating robot; and a first spring, a second spring, a third spring, a fourth spring, a fifth spring, a sixth spring, a seventh spring, and an eighth spring and configured to connect the fixed body to the moving body in the internal space.

A failure diagnosis device for a reduction gear is a failure diagnosis device for a reduction gear provided to a mechanical apparatus driven by a motor so that the reduction gear slows down rotation power of the motor and transmits the power to an operating part of the mechanical apparatus. The device identifies an acceleration/deceleration period during which operation of the mechanical apparatus accelerates and/or decelerates, and determines whether the reduction gear indicates a sign of failure based on a change in frequency spectrum of motor current with respect to a change in a rotation speed of the motor during the acceleration/deceleration period.

A method verifies functional/structural integrity of a hand-held unconstrained master device to control a robotic system for medical or surgical teleoperation. The master device includes a body having two rigid parts constrained to relatively rotate or translate on a common axis. Position vectors of two-plus points are measured and/or detected, each belonging to a respective one of the two rigid parts, and measuring and/or detecting evolution of the position vectors. An orientation of each of the points, and the evolution of the orientations are measured and/or detected. Constraints from constructional/structural features of the master device are defined, deriving from degrees of freedom. Mathematical relations associated with each of the defined constraints are calculated based on detected and/or measured position vectors, orientations and evolutions. A state of functional/structural integrity or non-integrity of the master device is determined, based on verification of the mathematical relations and degrees of freedom.

An apparatus and a method for detecting damage to a linear guide on which a robot is mounted, by using a simple configuration. The apparatus has: a length measuring sensor configured to measure a position of a predetermined portion of the robot at predetermined time intervals; a current detecting section configured to detect a current value of a drive motor for driving a slide; and a judging section such as a processor, configured to, when the measured distance between the predetermined portion of the robot and the length measuring sensor is out of a range defined by a predetermined first threshold, and when the current value of the drive motor is equal to or higher than a predetermined second threshold, judge that the linear guide has been damaged.

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.

A vibration analyzer includes a sensor that measures a vibration of an end effector supported by a distal end of a robot, a storage unit that stores a vibration calculation model of the robot, and a control unit configured to perform separation processing for separating a vibration to be reduced that is measured by the sensor into vibration data of the robot and vibration data of the end effector by using the vibration calculation model of the robot.

A system for automatic self-evaluation and testing one or more sensors and one or more peripherals in the robot 100. The AI system controls an end-to-end factory environment without human intervention. The AI system includes one or more smart rooms to test the one or more sensors and one or more peripherals in the robot. The one or more peripherals damaged in the robot 100 is removed and the new peripheral is placed and the new peripheral is tested by the AI system. The one or more smart rooms in the robot 100 evaluate the one or more peripherals individually to identify the fault in the individual peripherals.

A system and related systems for detecting and diagnosing fault of a robot is provided. The method comprises: performing simulations according to robot control commands; calculating discrepancy between actual performance of robot based on the control commands and the results generated by the simulation, wherein a presence of discrepancy is indicative of fault; performing diagnostic exercises according to the discrepancy to identify a cause of the fault.

An inspection method of a suction nozzle. Air flow rates that flow in multiple reference pipes that have different sectional areas are measured. A proportionality factor between air flow rates and sectional areas of the reference pipes is calculated based on the measured air flow rates of the multiple reference pipes, and the sectional areas of the multiple reference pipes. An air flow rate in a suction nozzle that is an inspection target is measured. The sectional area of the suction nozzle is calculated based on the air flow rate of the suction nozzle and the calculated proportionality factor. The sectional area of the suction nozzle calculated in this manner is substantially fixed even when the pressure of air supplied from an air source fluctuates. The sectional area of the suction nozzle is proportional to the air flow rate that flows in an inner portion of the suction nozzle.

A robot inspection system includes a coupling unit to which a mount table with a robot mounted thereon is coupled, a positioning mechanism positioning the coupling unit and the mount table, and an inspection unit performing an inspection of the robot with the mount table coupled to the coupling unit. Further, the mount table is transported to the coupling unit by an automatic guided vehicle. Furthermore, the inspection unit performs a plurality of types of inspections on the robot. Moreover, the coupling unit includes a recessed portion having an entry opening entered by the mount table, and the inspection unit is placed around the recessed portion.