The disclosure concerns a coating robot for coating components, having a robot base, a rotatable robot member, a pivotable proximal robot arm with two arm parts which can be rotated relative to one another and are connected to one another by a bearing ring, a pivotable distal robot arm, a robot hand axis, a connecting flange at the free end of the robot hand axis for connecting an application device and with a line arrangement which is guided from the robot base to the connecting flange for the application device. The disclosure provides that the line arrangement is passed through the first bearing ring between the two arm parts of the proximal robot arm.

An actuator unit (1) includes a direct drive motor (2), a first magnetic gear (3) connected to a rotating shaft (6) of the direct drive motor (2), a second magnetic gear (4) configured to be magnetically engaged with the first magnetic gear (3), and a planetary reducer (5) connected to a rotating shaft of the second magnetic gear (4).

A robot includes a first joint and a second joint positioned on a base end side from the first joint. A first speed reducer is incorporated in the first joint. A second speed reducer is incorporated in the second joint. A volume proportion of a resin occupying a constituent member of the first speed reducer is larger than a volume proportion of a resin occupying a constituent member of the second speed reducer.

A robot includes one or more rotary joints, each of the rotary joints including a motor, a reducer that reduces the rotational speed of the motor, and a first member and a second member that are connected by the reducer and that are supported so as to be rotatable about a center axis of the reducer. The first member of at least one of the rotary joints is provided with a flange securing portion that secures a flange of the motor at an eccentric position with respect to the center axis of the reducer. Bolts that secure the first member to the reducer are disposed in a region in which the flange is disposed when viewed from a direction along the center axis.

Mechanisms or apparatus convert a number of inputs via a number of input members into a number of output movements of an output structure, providing control in three degrees-of-freedom (DOF), for example control over roll, pitch and yaw of the output structure. Inputs may be rotations about a common axis of rotation, for example via a first ring, a second ring, and one or more plates, concentrically array. Rotation of the first ring may control a first DOF, rotation of the first ring may control a second DOF, and rotation of the plate may control all three DOF. Three concentrically arrayed tubular shafts may be employed, providing a through-passage or cable fluid conduit run to accommodate wires, optical fibers, fluid carrying conduits. Such may be particularly advantageous when employed as part of a robot, or other device with a tool or sensor or transducer located at or proximate a distal end thereof.

A robotic medical system can include a motorized arm that is supported by a column of the system. The robotic arm can be operated by rotating a link of the motorized arm by actuating an actuator to drive rotation of a rotary joint. A brake can then be applied to the rotary joint to stop rotation of the link. The arm can also include an arbor that can be actuated to increase a torsional stiffness of the rotary joint.

A robot wrist structure includes: a case, a first motor, a second motor, a first transmission mechanism, a second transmission mechanism, a first driving bevel gear, a second driving bevel gear, a driven bevel gear, a retaining fame, and an output connecting member; wherein the first motor and the second motor are mounted on the case, the first driving bevel gear, the second driving bevel gear and the driven bevel gear are respectively rotatably mounted in the retaining frame, the first driving bevel gear and the second driving bevel gear are both in mesh with the driven bevel gear, the first motor is connected to the first driving bevel gear by the first transmission mechanism, the second motor is connected to the second driving bevel gear by the second transmission mechanism, and the output connecting member is fixedly connected to the driven bevel gear.

A robot wrist structure includes a first wrist element that is supported by a forearm in a rotatable manner about a first axis; a second wrist element that is supported by the first wrist element in a rotatable manner about a second axis that is orthogonal to the first axis; and a third wrist element that is supported by the second wrist element in a rotatable manner about a third axis that is orthogonal to the second axis and that is disposed in the same plane as the first axis. Further the second wrist element is provided with, at a position at which the second axis is included, a second axial hollow hole that passes therethrough in a direction along the second axis.

Currently, there is no efficient mechanism for speed increasing with very high transmission ratio. Therefore, a planetary mechanism is proposed, with two suns (0b, 3b), having teeth numbers: Z.sub.1,Z.sub.4, one stationary (0b) and one (3b) constituting the input of mechanism, a carrier (1a, 1b, 1c, 1d) constituting the output, and a planetic shaft (2b) with two planets (2a, 2c), cooperating with corresponding suns (0b, 3b) and having teeth numbers: Z.sub.2,Z.sub.3, where the term: Z.sub.1/Z.sub.2.Z.sub.3/Z.sub.4 is closest to 1, so the transmission ratio between moving sun (3b) and carrier (1a, 1b, 1c, 1d) is maximum possible. In a specific case, named “Three Successive Integers Mechanism”, this transmission ratio is equal to k.sup.2, where k is integer, easily taking high value. The applications are unlimited, while some are: —wind turbine, —electric assisted bicycle, —energy storage unit of enormous kinetic energy with k.sup.4 times increased moment of inertia, —mechanically driven supercharger for ICE or fuel cell, —robotic articulated arm (as speed reducer).

A gear device includes an internal gear, a flexible external gear, and a wave generator. The wave generator includes an elliptical cam and a bearing. Grease is applied to the inner circumferential surface of the external gear. A groove is provided along a rotation axis on at least one of the inner circumferential surface of the external gear and an outer circumferential surface of the bearing.