There is disclosed a rotary actuator apparatus for hydraulically or pneumatically rotating a robotic joint. In an embodiment the apparatus comprises: a curved piston rotatably coupled to an axel shaft, and positioned within a curved piston chamber; resilient barrier modules are adapted to separate the curved piston within the curved piston chamber from first and second hydraulic or pneumatic chambers on either side of the curved piston chamber; whereby, in use, the curved piston is configured to rotate about the axel shaft upon hydraulic or pneumatic pressure being applied to at least one of the first and second hydraulic or pneumatic chambers.

A rotary drive device has a fluid-actuated rotary drive, which has a drive housing and a drive unit rotatable relative thereto. The drive unit has a pivot piston and a drive shaft connected thereto, whereby the drive shaft projects from the drive housing on an axial front side with a drive section. On the rear side, several components are mounted in axial succession on the drive housing of the rotary drive, which together with the rotary drive form a uniformly practicable drive assembly. These components include a valve carrier device carrying a control valve arrangement, a pneumatic connection unit, and an electronic control unit electrically connected to the control valve arrangement. A robot arm is also proposed, which includes the rotary drive device as an arm joint.

A rotary drive device includes a rotary drive which is provided with a braking device and which has an output unit which can be driven into a rotary output movement about a rotation axis. The braking device has two braking bodies with braking structures which lie opposite one another and which by way of an actuation device are drivable into a relative switch-over movement in order to either block the output unit in a rotationally fixed manner or to release it for carrying out an output movement. The switch-over movement is effected in the axis direction of a brake rotation axis, about which the first braking body which is drivingly coupled to the output unit is rotatable. The second braking body is non-rotatably arranged on the drive housing. Furthermore, a robot arm which is provided with such a rotary drive device is suggested.

A gripper head assembly is for a robotic gripping system and includes an actuator. The actuator includes: an actuator body having an attachment region configured to attach the actuator body to the gripper head; a drive element having a mounting section for a tool; a drive having a connector configured to receive an input; the drive being configured to move the drive element upon receiving the input; the drive element defining a through passage; the through passage having a first port for receiving at least one of negative pressure and positive pressure; and, the through passage having an outlet at the mounting section configured to supply the tool with the at least one of negative and positive pressure.

There is disclosed a rotary actuator apparatus for hydraulically or pneumatically rotating a robotic joint. In an embodiment the apparatus comprises: a curved piston rotatably coupled to an axle shaft, and positioned within a curved piston chamber; resilient barrier modules are adapted to separate the curved piston within the curved piston chamber from first and second hydraulic or pneumatic chambers on either side of the curved piston chamber; whereby, in use, the curved piston is configured to rotate about the axle shaft upon hydraulic or pneumatic pressure being applied to at least one of the first and second hydraulic or pneumatic chambers.

The subject matter of this specification can be embodied in, among other things, a fluid actuator including a housing defining a first chamber having a first cavity and a first open end, a first piston assembly including a tubular first piston defining a second chamber having a second cavity and a second open end, disposed in said first housing for reciprocal movement in the first chamber through the first open end, wherein a first seal, the first cavity, and the first piston define a first pressure chamber, and a second piston assembly having an second piston disposed in said first piston assembly for reciprocal movement in the second chamber through the second open end, wherein a second seal, the second cavity, and the second piston define a second pressure chamber, and a first portion of the second piston contacts a first end effector.

A rotary drive device has a fluid-actuated rotary drive which has a drive housing and a drive unit rotatable about a main axis relative to the drive housing. The drive unit contains a pivot piston which divides two drive chambers from one another in the interior of the drive housing, which can be supplied with compressed air fluidic pressure medium controlled by a control fluid channel system, in order to cause a rotational movement of the drive unit. The rotary drive is equipped with a pressure detecting device, which enables pressure detection of the fluid pressure prevailing in the two drive chambers by means of pressure detecting channels formed separately with respect to the control fluid channel system. A robot arm is also proposed, which includes the rotary drive device as an arm joint.

A head for a swing arm assembly is provided for a spot welding machine. The head can accommodate a tip dresser or a tip exchanger.

Devices and systems for producing rotational actuation are described. More specifically, hydraulic and pneumatic actuators that can produce and control rotational or joint-like motion are described. An actuator may include a torus shaped cylinder configured to enable rotation of the actuator. An actuator may further include both a piston configured to rotate from a first end of the torus shaped cylinder to a second end of the torus shaped cylinder and a piston rod coupled to the piston.

A handling apparatus for conducting in-field operations such as removing and/or installing wear parts on earth working equipment along a controlled path. The apparatus can include a crane, a joint having three axes of articulation and a tool.