The invention relates to a transmission, to a transmission housing, to a driving member mounted rotatably in the transmission housing, to an output member mounted rotatably in the transmission housing and to at least one speed-changing transmission stage which couples the output member to the driving member and has a torque-supporting member, wherein the driving member together with the output member and the torque-supporting member forms a preassembled assembly in which the torque-supporting member is mounted rotatably on the transmission housing by means of a transmission-stage rolling bearing device and has a toothing which is in engagement with a driving pinion mounted rotatably in the transmission housing. The invention also relates to an electric driving device and to an industrial robot having at least one such transmission.

The invention relates to an improved robotic arm apparatus and associated method which improves a robot configured in a delta arrangement. The robotic arm apparatus is arranged with three substantially identical movable arm assemblies connected together with three linear actuators in a triangular configuration such that each end of each linear actuator has at least one translational degree of freedom.

An articulable wrist for an end effector includes a distal linkage provided at a distal end of the articulable wrist, a proximal linkage provided at a proximal end of the articulable wrist, a central channel cooperatively defined at least in part by the distal and proximal linkages and extending between the distal and proximal ends, and flexible member arranged within the central channel and providing one or more lobes arranged about a periphery of the flexible member. One or more stiffening members are arranged within the flexible member and extending at least partially between the distal and proximal ends, wherein at least one of the one or more stiffening members is positioned within a corresponding one of the one or more lobes.

Disclosed herein are various robotic surgical devices and systems that include first and second elongate bodies, first and second driveshafts disposed through the second elongate body, and an in-line shoulder joint with a robotic arm coupled thereto. In certain implementations, the in-line shoulder joint has a differential yoke and a dual shaft disposed within the yoke lumen.

An end effector for use and connection to a robot arm of a robotic surgical system, wherein the end effector is controlled and/or articulated by at least one cable extending from a respective motor of a control device of the robot surgical system, is provided. The end effector includes at least one gear train that transmits forces from the at least one motor of the control device to at least one of the proximal bracket of the wrist assembly, the distal bracket of the wrist assembly and the jaw assembly. The gear train enables at least one of a pivoting of the distal hub assembly relative to the proximal hub; a rotation of the distal bracket relative to the proximal bracket; and an opening/closing of the jaw assembly.

A dual-arm robot includes a first arm and a second arm, each having a first link rotatable about a first axis, and a second link rotatably coupled to the first link and defined with an end effector attaching portion. The first link of the first arm is disposed to be separated from the first link of the second arm in an extending direction of the first axis. Further, the second link of the first arm and the second link of the second arm are disposed so as to be located between the first link of the first arm and the first link of the second arm in the extending direction of the first axis and so that the end effector attaching portions are located at substantially the same position in the extending direction of the first axis.

A welding apparatus includes an articulated robot having a plurality of drive shafts, an end effector supported by the articulated robot, a tip shaft drive mechanism, and a drive control unit. The tip shaft drive mechanism is provided between a tip drive shaft of the articulated robot and the end effector and allows a tip shaft of the end effector to perform a weaving operation. The drive control unit drives the articulated robot and the tip shaft drive mechanism. The tip shaft drive mechanism includes a first-axis drive unit which drives the tip shaft in a first-axis direction that is perpendicular to the tip shaft of the end effector and a second-axis drive unit which drives the tip shaft in a second-axis direction that is perpendicular to the tip shaft and the first-axis direction.

A linear extension and retraction mechanism includes: a plurality of first pieces coupled together bendably; a plurality of second pieces coupled together bendably; a plurality of rollers adapted to join together the first pieces and the second pieces, forming a columnar body, and support the columnar body movably back and forth; a drive gear adapted to move the first pieces and the second pieces back and forth; and a motor unit adapted to generate power for rotating the drive gear. On a surface on a side where each of the first pieces is joined to a corresponding one of the second pieces, the first piece includes a linear gear to be meshed with the drive gear as well as a protrusion installed by protruding toward the second piece side. At least one third piece is bendably connected to a rearmost one of the plurality of first pieces.

An up/down section 4 of a robot arm mechanism includes: a pair of side frames disposed on a rotating section of a turning rotary joint; a cylindrical body supported in an axially rotatable manner by the side frames; a motor unit including a motor and a gearbox for rotationally driving the cylindrical body; connecting sections for connecting with an arm support body that movably supports an arm section; and a guide structure for guiding second pieces that were separated from first pieces into a columnar support section. The motor unit, connecting sections and guide structure are integrated with the cylindrical body. The motor unit is housed inside the cylindrical body, and an output shaft of the motor unit is connected to one of the side frames. The connecting sections are fixed to the outer circumferential surface of the cylindrical body. The guide structure is an annular body provided on the outer circumferential surface of the cylindrical body.

A linear extension and retraction mechanism includes: a plurality of first pieces shaped like a plate and coupled bendably with one another by first hinge sections; and a plurality of second pieces C-shaped or hollow square-shaped in transverse section and coupled bendably with one another on a bottom surface side by second hinge sections. The first pieces and the second pieces are formed into a columnar body stiffened by being restrained from bending when the first pieces are joined to the second pieces on a front surface side opposite the bottom surface side, and the first pieces and the second pieces return to a bent state when separated from each other. Each of the first hinge sections is made up of a shaft, columnar in shape, and bearing sections for the shaft, the bearing sections being provided on front and rear ends of each of the first pieces. A flange 61, non-circular in shape, is provided at a rear end of the shaft. A receiving section 535 shaped as a recess and configured to accommodate a shape of the flange is provided in the bearing section at the front or rear end of the first piece. The flange is fitted in the receiving section.