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.

A robotic surgical tool includes a drive housing having a first end, a second end, and one or more splines extending between the first and second ends, a carriage mounted to the one or more splines and movable between the first and second ends, and a cylindrical lead screw operatively coupled to the first end and extending toward the second end, the cylindrical lead screw including an interior sized to receive the splines and the carriage. The carriage is operatively coupled to the cylindrical lead screw such that rotation of the cylindrical lead screw correspondingly causes the carriage to move between the first and second ends.

A modularized externally-driven joint structure can be used for general purposes. An externally-driven joint structure: includes a shaft member that extends in an axial direction; and a number of rotatable members that are arranged along the axial direction, and are coupled with each other by the shaft member in an axially rotatable manner. Each of the rotatable members includes a pair of face portions that face each other in the axial direction, a side wall portion that is arranged along the outer circumferential edges of the pair of face portions, and at least one coupling portion that is arranged at the face portions or the side wall portion, and is coupled with a link member constituting a link of a robot.

A two-stage insertion system including a gripper to grip a module, a compliance element to provide movement in the XY axis, a first stage insertion control to insert the module into a socket, to a first level, and a second stage insertion control to complete the insertion of the module into the socket, when the first stage insertion control indicates that the module is aligned to the socket, the second level insertion control exerting enough force to complete the insertion of the module into the socket.

A composite structure and article of manufacture for a composite structure arranged with a rotatable top are disclosed.

In various embodiments, the composite structure is disclosed with improved angles of freedom and ability to be adjusted in multiple positions along six (6) axes, while all the six (6) axes are independent of each other, this provision indeed helps the user to have the composite structure adjusted in every angle that is comfortable for the user.

A robot includes a base; a robot arm that includes an arm which is rotatable around a rotation axis with respect to the base; and a connector that is provided in the base and is capable of being connected to an external wire. The connector is located on a side of the center of gravity more than a line that is perpendicular to a location of a center of gravity of the robot arm when the robot arm is in a basic posture and a line segment passing through the rotation axis and passes through the rotation axis, as viewed from an axial direction of the rotation axis.

A robot including a wrist base, a wrist flange member including a flange surface for mounting an end effector, and an actuator driven to rotate the wrist flange member relative to the wrist base around an axis line orthogonal to the flange surface, the actuator includes a first member fixed to the wrist base and a second member fixed to the wrist flange member, a gap which is exposed in a direction opposite to the flange surface along the axis line is formed between a cylindrically shaped outer peripheral surface of the wrist base or the first member and a cylindrically shaped inner peripheral surface, which is arranged radially outside the outer peripheral surface, of the wrist flange member or the second member, and the robot includes an oil seal for sealing the gap.

A piece of equipment for on-demand food preparation, for instance on an assembly line, that can use an end-of-arm tool to retrieve and deposit food items on a horizontal surface, such as the surface of a conveyor. The end-of-arm tool may include a peel, in which the peel can be translated from a retracted position to an extended position to transfer food items. The piece of equipment may translate the peel quickly into the extended position to facilitate the retrieval of food items from the horizontal surface. The piece of equipment may be rotated to position the robotic appendage and the peel in a desired direction. The peel may include a push bar that may be movable between a withdrawn position and a push position to selectively push items off of the peel.

The present invention relates to a joint assembly (1) for a robot (100), comprising a housing (26) connected with an output part (8), the housing comprising a housing wall (26A), a strain wave gearing system (90) comprising a wave generator (7), a flexspline (13), and a circular spline (36) connected to the output part (8), wherein the wave generator (7) is rotated by a rotor shaft (3), the rotor shaft being driven by an electric motor (140) comprising a stator (15) and a rotor magnet (16), the rotor magnet (16) being affixed to the rotor shaft (3), and wherein the joint assembly (1) further comprises a rotor brake (30) configured to stop/prevent relative movement between the rotor shaft (3) and the flexspline (13), and sensors arranged to measure the position of the housing (26) in relation to the output part (8). Furthermore, the present invention also relates to a robotic arm (100) comprising a joint assembly according to the present invention and to the use of the joint assembly according to the present invention.

Turning device provided at joint of robot arm includes: shaft cover including tubular wall extending in axial direction; turning shaft inserted into inside of wall of shaft cover and extending in axial direction; bearing causing shaft cover to support turning shaft wherein turning shaft is rotatable about a center axis of turning shaft; and at least one operating wire coupled to turning shaft at inside of shaft cover wall. Shaft cover includes a guide guiding operating wire. Guide is formed to be symmetrical about symmetry plane passing through shaft cover center axis and parallel to axial direction. Each portion of guide which portions are located at both respective sides of symmetry plane includes: outer peripheral portion formed on wall outer surface and extending in axial direction; inner peripheral portion formed along wall inner surface and extending in circumferential direction; and connecting portion connecting outer peripheral portion and inner peripheral portion.