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.

A gearing includes an internal gear, a flexible external gear partially meshing with the internal gear and relatively rotating about a rotation axis to the internal gear, and a wave generator provided inside of the external gear and moving a mesh position between the internal gear and the external gear in a circumferential direction about the rotation axis, wherein the external gear includes an external tooth having an external tooth surface, the external tooth surface has an external tooth convex pattern including a first convex portion and a second convex portion extending in directions crossing directions of a tooth trace of the external tooth and arranged adjacent to each other in the directions of the tooth trace, and a distance between the first convex portion and the second convex portion is from 80 μm to 520 μm.

A vertical articulated robot includes a plurality of joint axis portions configured to rotationally drive a plurality of arms. The plurality of joint axis portions include a narrow joint axis portion. In the narrow joint axis portion, at least one of at least a portion of a brake or an oil seal is arranged inside a recess.

A first driving device includes a motor including a rotating shaft, a speed reducer, and a supporting member. The speed reducer includes a rigid gear, a flexible gear configured to partially mesh with the rigid gear, and a wave motion generator coupled to the rotating shaft and configured to come into contact with the inner circumferential surface of the flexible gear, bend the flexible gear, and move a meshing position of the rigid gear and the flexible gear in the circumferential direction. The wave motion generator includes a projecting section projecting along the rotating shaft. The rotating shaft is supported by the supporting member via a bearing including an inner ring and an outer ring. The outer ring of the bearing is supported by the supporting member. The rotating shaft and the projecting section are coupled to the inner ring of the bearing by tight fitting.

An inspection robot, and methods and a controller thereof are disclosed. An inspection robot may include an inspection chassis including a plurality of inspection sensors and coupled to at least one drive module to drive the robot over an inspection surface. The inspection robot may also include a controller including an inspection data circuit to interpret inspection base data, an inspection processing circuit to determine refined inspection data, and an inspection configuration circuit to determine an inspection response value in response to the refined inspection data. The controller may further include an inspection response circuit to, in response to the inspection response value, provide an inspection command value while the inspection robot is interrogating the inspection surface.

An annular body includes a base portion and a resistance wire located in the base portion and including first and second resistance wire portions. The first resistance wire portion includes first regions arranged at intervals in the circumferential direction and each including a region in which a first portion extending in a direction including components in both the radial direction and the circumferential direction is repeatedly provided in the circumferential direction. The second resistance wire portion includes the second regions arranged at intervals in the circumferential direction and each including a region in which a second portion extending in a direction including components in both the radial direction and the circumferential direction is repeatedly arranged in the circumferential direction.

A gear includes a tubular portion and a diaphragm portion. The diaphragm portion extends in a direction including a radial component from one axial end portion of the tubular portion. The portion includes a first portion and a second portion. The first portion is on one axial side of the portion. The second portion is on another axial side relative to the first portion. The second portion includes teeth protruding radially outward. A maximum value of a thickness of the diaphragm portion is equal to or less than twice a distance from radially outer ends of the teeth to a radially inner surface of the second portion, and a minimum value of a thickness of the first portion is equal to or less than half the maximum value of the thickness of the diaphragm portion.

A manipulator arm for a robot, including a printed circuit board motor and a transmission, the printed circuit board motor including a multi-layer board having at least one first solenoid coil with flat coils lying vertically on top of each other, the flat coils being connected electrically in series or in parallel, two vertically adjacent coils being orthogonally offset to each other in each case such that, in a cross-section perpendicular to the surface of the multi-layer board, conducting track portions of the one flat coil are arranged in partial overlap vertically with two conducting track portions of the other flat coil. A robot having at least one manipulator arm of this type and the use of a printed circuit board motor in a manipulator arm of a robot are also provided.

The present invention discloses a shafting structure of an integrated joint for a collaborative robot, wherein two ends of a long input shaft are respectively a motor rear end and a flexspline end, and a harmonic gear drive is installed on the flexspline end; the motor rear end is coaxially provided with a motor rear end bearing set, a motor rear end inner race pressing ring, a motor rear end outer race pressing ring, a motor rear end outer race seat and a motor rear end angle encoder mounting seat; and the flexspline end is provided coaxially with a flexspline end bearing set, a flexspline end inner race pressing ring and the harmonic gear drive. In the present invention high-precision position feedback and control can be realized.

A robot joint includes a casing, a motor assembly including a stator and a rotor that are arranged within the casing, and a harmonic drive received, at least in part, in the rotor. The harmonic drive includes a circular spline, a wave generator fixed to the rotor, and a flex spline. The circular spline is arranged around and engaged with the flex spline. The wave generator is received in the flex spline and configured to drive the flex spline to rotate with respect to the circular spline. The robot joint further includes an output shaft fixed to the flex spline.