A driving force transmission mechanism includes a worm gear unit as a brake disposed between a driving motor and an electrically driven input gear, and is configured such that when a driving force is applied from the driving motor to the electrically driven input gear through the worm gear unit, an outer ring which rotates together with the electrically driven input gear becomes locked to an inner ring through rollers so that the driving force is transmitted to an output gear, which rotates together with the inner ring, and when a driving force is applied to a manually driven input shaft, the outer ring and the inner ring are unlocked from each other by an unlocking piece which rotates together with the manually driven input shaft, and thereafter, the driving force is transmitted to the inner ring and the output shaft.

A torque transmission device includes an inner ring, an outer ring, and at least one pair of receiving bellows. The at least one pair of receiving bellows includes a positive receiving bellows and a negative receiving bellows. The torque transmission device also includes at least one gas pressure spring and an adjusting unit connected to the at least one gas pressure spring. The receiving bellows are arranged between the outer ring and the inner ring such that when the inner ring is rotated in the positive rotational direction, the positive receiving bellows may be compressed, and when the inner ring is rotated in the negative rotational direction, the negative receiving bellows may be compressed. In addition, the receiving bellows are connected to the at least one gas pressure spring in a fluidically conductive manner.

In one embodiment, a selectable-rate spring comprises a flexure bar connected to a rotatable shaft, the flexure bar having at least one arched portion. The selectable-rate spring also includes at least one rotational contactor connectable to a link member, wherein the rotational contactor rotates about an axis while maintaining contact with the arched portion of the flexure bar. As the rotational contactor rotates, it changes the connection stiffness between the rotatable shaft and the link member.

The invention relates to a planar multi-joint robot arm system. An example of such planar multi-joint robot arm system comprises a base platform having a longitudinal axis, a product manipulator having a longitudinal axis perpendicular to the longitudinal axis of the base platform, a double crank-conrod mechanism consisting of a first crank-conrod link and a second crank-conrod link, wherein both the first and the second crank-conrod links having a crank end connected to the base platform and a conrod end connected to the product manipulator, and as well as a link element linking both crank-conrod joints of the first and the second crank-conrod links, a first driving unit arranged for rotating the crank end of the first crank-conrod link of the double crank-conrod mechanism, a multi-joint arm having first arm end connected to the base platform and a second arm end connected to the product manipulator as well as a second driving unit arranged for rotating the first arm end of the multi-joint arm. Herewith the construction of the product manipulator and the double crank-conrod mechanism has a more balanced design, and as such the mass and inertia of the overall construction are reduced significantly.

A tool changer includes a case including a plurality of case bodies that are separated from each other, a fixed body disposed in the case, a shaft disposed in the case and extending a long way in an axial direction of the case, a motor configured to rotate the shaft, a moving body configured to move along the shaft based on rotation of the shaft, and a plurality of pushers connected to the fixed body via a first link, connected to the moving body via a second link, and configured to press the case body in an outer radial direction when the moving body moves towards the fixed body.

A piezoelectric drive device includes a substrate, a convex portion coupling to the substrate and transmitting drive power to a driven member, first drive piezoelectric elements placed on the substrate and vibrating the substrate in Y directions in which the substrate and the convex portion are arranged, second drive piezoelectric elements placed on the substrate and vibrating the substrate in Z directions orthogonal to the Y directions, a reference piezoelectric element placed on the substrate, receiving the vibration in the Y directions, and outputting a detection signal, and a concave portion placed side by side with the reference piezoelectric element in the Z directions in a plan view from an X direction orthogonal to the Y directions and the Z directions.

A joint actuator of a robot includes a casing, a driving device, a driving shaft, a reducer, and a sensor. The driving device is disposed in the casing. The driving shaft is disposed in the casing and connected to the driving device, and the driving device is adapted to drive the driving shaft to rotate. The reducer is disposed in the casing and includes a power input component and a power output component. The power input component and the power output component are sleeved around the driving shaft, and the power input component is connected between the driving shaft and the power output component. The sensor is disposed on the power input component or the casing.

An exoskeleton includes a first support, a second support, and a joint connecting the first and second supports. An actuator causes relative rotation between the first and second supports at the joint. The actuator includes a motor, a ball screw, a ball nut, and a yoke. The motor causes translation of the yoke via the ball screw and the ball nut. In some embodiments, the actuator further includes a roller and a joint cam having a track. Translation of the yoke causes movement of the roller within the track, and movement of the roller within the track causes rotation of the joint cam. In other embodiments, the actuator further includes a linkage and a joint crank. Translation of the yoke causes movement of the linkage, and movement of the linkage causes rotation of the joint crank. Rotation of the joint cam or the joint crank causes relative rotation between the first and second supports.

A horizontally articulated robot includes a base, a first arm provided at the base, and a control device controlling the first arm, in which at least a part of the control device is located inside the base.

An actuator controlled by a driver, includes an actuator-side connector that is detachably connected to a driver-side connector provided in the driver, in which the actuator is able to be electrically connected to the driver, by connecting the actuator-side connector and the driver-side connector to each other.