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 radial stacked actuator includes an actuator ground; a motor including a motor ground constrained to the actuator ground with one or more rotational degrees of freedom; a spring coupled between the motor ground and the actuator ground; a gearbox coupled to the motor at an input of the gearbox; and an actuator output coupled to an output of the gearbox. The spring is configured to deflect as the motor ground rotates relative to the actuator ground.

A joint module is provided which includes a housing, a driving assembly, a speed reduction assembly, a first fastener, a second fastener and a third fastener. The driving assembly includes an output shaft, a lower bearing seat and a lower bearing, an inner ring and an outer ring of the lower bearing are respectively connected with the output shaft and the lower bearing seat. The first fastener fixes the lower bearing seat on the housing, and the second fastener fixes the speed reduction assembly on the housing. The third fastener fixes the input shaft of the speed reduction assembly to the output shaft. The output shaft of the driving assembly and the input shaft of the speed reduction assembly are separate structural members, which not only allows the driving assembly and the speed reduction assembly to be tested separately before assembly, but also facilitates the later maintenance.

A robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor.

Systems and methods for configuring a robot for inspecting an inspection surface are disclosed. An example system may include an inspection robot having a payload coupled to at least two inspection sensors and a controller. The controller may include a route profile processing circuit to interpret route profile data for the inspection robot, a configuration determining circuit to determine one or more configurations for the inspection robot in response to the route profile data; and a configuration processing circuit to provide configuration data in response to the determined one or more configurations, the configuration data defining, at least in part, one or more inspection characteristics for the inspection robot.

System and methods for traversing an obstacle with an inspection robot are disclosed. An example system may include an inspection robot including an obstacle sensor to interrogate an inspection surface. The example may further include an obstacle sensory data circuit to interpret obstacle sensory data provided by the obstacle sensor, an obstacle processing circuit to determine refined obstacle data, and an obstacle notification circuit to generate and provide obstacle notification data to a user interface device. The example system may further include a user interface circuit to interpret a user request value from the user interface device, and to determine an obstacle response command value in response to the user request value; and an obstacle configuration circuit to provide the obstacle response command value to the inspection robot during the interrogating of the inspection surface.

Systems, methods and apparatus for rapid development of an inspection scheme for an inspection robot are disclosed. An apparatus may include an inspection definition circuit to interpret an inspection description value, and a robot configuration circuit to determine an inspection robot configuration description in response to the inspection description value. The apparatus may further include a configuration implementation circuit, communicatively coupled to a configuration interface of an inspection robot, to provide at least a portion of the inspection robot configuration description to the configuration interface.

Systems, apparatus and methods for providing an inspection map are disclosed. An apparatus for performing an inspection may include an inspection data circuit to interpret inspection data, a robot positioning circuit to interpret position data, and a processed data circuit to link the inspection data with the position data to determine position-based inspection data. The apparatus may further include a user interaction circuit to interpret an inspection visualization request for an inspection map and an inspection visualization circuit to determine the inspection map based on the position-based inspection data, and a provisioning circuit structured to provide the inspection map to a user device.

An example robot includes: a motor disposed at a joint configured to control motion of a member of the robot; a transmission including an input member coupled to and configured to rotate with the motor, an intermediate member, and an output member, where the intermediate member is fixed such that as the input member rotates, the output member rotates therewith at a different speed; a pad frictionally coupled to a side surface of the output member of the transmission and coupled to the member of the robot; and a spring configured to apply an axial preload on the pad, wherein the axial preload defines a torque limit that, when exceeded by a torque load on the member of the robot, the output member of the transmission slips relative to the pad.

A robot joint, including: a housing; an output shaft, at least partially housed inside the housing and provided with a shaft portion and a flange portion at a first end of the shaft portion; a first bearing portion, housed in the housing and supporting a first position of the flange portion of the output shaft; a second bearing portion, housed in the housing and supporting a second position of the output shaft in an axial direction; and a motor, housed in the housing, where the second bearing portion is arranged between the motor and the first bearing portion along the axial direction of the output shaft. Further provided is a robot. By effectively supporting the output shaft at multiple points, the output shaft is enabled to more effectively and stably bear the moment or bending moment of a load, and the robot joint structure is enabled to be compact and lighter.