A first drive unit includes a motor having a rotation shaft in which a through hole is provided, a drive section rotating the rotation shaft, and a first case covering at least a part of the drive section. Further, the unit includes a reducer having an input portion engaging with one end portion of the rotation shaft, an attachment portion attached to the motor, and an output portion reducing and outputting rotation of the rotation shaft. Furthermore, the unit includes a first connector fixed to a third case of the motor and coupled to first wiring coupled to outside and a second connector fixed to the attachment portion of the reducer and coupled to second wiring coupled to the outside. In addition, the first drive unit includes internal wiring passing through the through hole and coupled to the first connector and the second connector.

Modular gripping finger for arrangement on a movable gripper jaw of a gripping device, having at least two rigidly interconnected finger modules, the finger modules including one or more base modules for forming a geometric shape of the gripping finger and including an end module having a gripping surface, the end module including an electrical end module interface and at least one sensor which is or can be connected to the end module interface.

In order to extend a life span of a flexible cable passing through a movable portion, provided is a hand mechanism which has a plurality of fingers and grips an object with the fingers, including: a flexible cable; a joint which flexes or extends with the grip of the object, has a path for the flexible cable, and has a first surface and a second surface that is a surface bending from the first surface at a bending portion in the path; and a sheet which is provided between the first surface and the flexible cable to have flexibility and is formed such that a gap is provided between the second surface and the sheet.

An automated in-rack picking solution enables improved efficiency by permitting automatic reconfiguration of automated picking system (APS) deployments within an automated storage and retrieval system (ASRS). The storage volume of an ASRS can be more thoroughly utilized, even with a smaller number of APSs, when at least one APS is operable to autonomously relocate within the ASRS based at least on a stored item's location and/or property (e.g., suitability for handling by a particular end effector). An exemplary solution includes an APS positioned to reach stored items within a first subset of storage locations when affixed to a first attachment point; a transport component operable to relocate the APS to a second attachment point, wherein the APS is positioned to reach stored items within a second subset of the storage locations when affixed to the second attachment point; and a controller operable to instruct relocation of the APS.

A vertical articulated robot includes a plurality of joint axis portion units configured to rotationally drive a plurality of arms, and a wiring unit configured to allow wiring portions of the plurality of joint axis portion units to be arranged therein. A joint axis portion unit integrally includes a first motor including a solid first motor shaft and a first speed reducer directly connected to the first motor shaft.

An arm engageable with a mounting receiver of an automated tooling system. The arm comprises a wall defining a central bore extending the length of the arm, and at least pin engageable with the mounting receiver to engage the mounting receiver for aligning and receiving the mounting receiver. The pin may be a plasma ion nitrided pin. The arm may also include first and second ends, an electrical power supply connector positioned inside the bore adjacent the first end and wiring. The second end defines an opening. The wiring is connected to the electrical power supply connector, and extends unexposed within the bore from the electrical power supply connector through the opening to supply power to the gripper.

A robotic device may include a spine defining a yaw axis. The robotic device may also include an arm joint rotatably connected to the spine at a first position along the yaw axis and configured to rotate about the yaw axis. The robotic device may further include an actuator including a ring that defines a bore. The spine may be fixedly connected to the ring at a second position along the yaw axis and may extend through the bore. The actuator may be connected to the arm joint and configured to rotate the arm joint about the yaw axis without rotating the spine.

A robot includes a movable unit displaced in horizontal directions and having a recessed part opening upward in a vertical direction, a connector placed within the recessed part, and a drain part that communicates between a bottom portion of the recessed part and an outside of the movable unit and drains a liquid within the recessed part out of the recessed part.

Actuation systems and methods for actuating a telescopic structure are provided. The actuation system can include a chain cartridge including a drive chain engageably coupled to a drive mechanism actuated by an actuator coupled to a power supply. The drive chain can include a plurality of inter-connected links conveying at least one cable within an interior space of each inter-connected link. The system can also include a telescopic structure including a plurality of segments configured to extend and retract telescopically and conveying the drive chain therein. The drive chain can couple to a distal segment of the plurality of segments. The drive mechanism can impart a linear translation force on the plurality of inter-connected links to cause the distal segment to extend or retract from the telescopic structure. Methods of actuating the actuation system described herein are also provided.

A rotary shaft structure includes an actuator having an output shaft for rotationally driving a driven body, a force sensor which is arranged between the output shaft and the driven body and which detects a force exerted between the output shaft and the driven body, and a flexible deformation body which is in contact with the output shaft and the driven body, wherein the entirety of the force sensor is sealed by the output shaft, the driven body, and the flexible deformation body.