A horizontal multi-joint robot includes: a first joint capable of swiveling around a first axis; a second joint capable of swiveling around a second axis that is parallel to and spaced apart from the first axis; and a duct connected between the first joint and the second joint. The first joint has a first connecting portion forming a predetermined angle relative to the first axis. The second joint has a second connecting portion forming a predetermined angle relative to the second axis. The duct has a first end and a second end. The first end is connected to the first connecting portion. The second end is connected to the second connecting portion.

This disclosure relates to a decentralized electric rotating actuator with high torque output. Furthermore, the actuator disclosed may be configured for transmission of electrical power and communications through a network. The actuator includes, actuator housing 1, actuator shaft 2, power module 4, engine (electrical motor) 6a, a motor driver 6 including network module 5 or separate network module 35 and motor driver 36. The power (voltage) and communication signals of the actuator can be transferred internally in both directions via connection means, which may be slip rings or other appropriate connection means 3, between the actuator housing 1 and the actuator shaft 2 at connection points 14, 15. Power and communication signals can be continuously input to or output from the actuator of this disclosure via any connection port 17 located on the housing 1 or shaft 2; allowing the formation of a network with other actuators or similar devices. An increased torque ratio may be achieved by placing an electric motor 6a with external rotor 6b in combination with a strain wave gearing system 18 directly, or in connection, with a planetary gearing system 11 in which the electric motor 6a may be located in the centre of the strain wave gearing system 18. The electric motor 6a with external rotor 6b, with an oval shape and associated oval bearings 38, may be an integral part of the wave generator. Alternatively, the electric motor 6a with external rotor 6b may be present as a sun gear 21 with motor rotor running continuously. A hollow shaft construction may serve to maximise the space available within the actuator and to reduce the size by providing the necessary circuitry as well as other components in the most efficient and space saving manner.

A Z slider includes a rotating shaft capable of at least one revolution centered on a rotation axis, in a state Where the rotating shaft supports a measurement head that is connected to a plurality of cables; a axis drive motor that causes the rotating shaft, to perform normal rotation in a clockwise direction and reverse rotation in a counterclockwise direction; and an oscillating link that oscillates in a state of contact with the rotating shaft when the rotating shaft is performing normal rotation in the clockwise direction and limits normal rotation in the clockwise direction that is equal to or greater than a predetermined angle, and that oscillates in a state of contact with the rotating shaft when the rotating shaft is performing reverse rotation in the counterclockwise direction and limits reverse rotation in the counterclockwise direction that is equal to or greater than a predetermined angle.

The invention includes systems and methods for fabrication and use of an assembly for a component of a robot. The assembly includes a first member including a set of electrically conductive annular surfaces, and a second member including a set of electrically conductive components configured to contact the set of electrically conductive annular surfaces. The first member and the second member are included within the component of the robot. Each component in the set of electrically conductive components includes a first convex curvilinear portion configured to contact a corresponding annular surface in the set of electrically conductive annular surfaces.

A robot includes an arm rotating around a rotation axis, a motor including a motor body including a rotating output shaft and a motor cover configured to cover at least a part of the motor body, the motor generating a driving force for turning the arm, and a brake attached to the motor and capable of braking the output shaft. The motor cover includes an attachment configured to attach the motor to the arm and a positioning section configured to position the brake with respect to the motor. The attachment and the positioning section are integrally formed.

A material delivery interface includes a fixed assembly that is coupled to a primary structural attachment. The fixed assembly includes a fluid inlet and a wired input, wherein the fixed assembly defines a central axis. A rotational assembly is rotationally coupled to the fixed assembly and that rotates about the central axis with respect to the fixed assembly. The rotational assembly includes an inner portion having a fluid outlet in fluid communication with the fluid inlet and an outer portion having a wired output, wherein a conduit extends from the wired input to the wired output.

To provide a rotary axis cable wiring structure and a robot having higher usability at the time of assembly and increased reliability as to whether or not cables are properly disposed. A rotary axis cable wiring structure includes a fixed member and a movable member which are rotatable relatively, a cylindrical hollow pipe member disposed between the fixed member and the movable member so as to be rotatable with respect to the movable member, a plurality of cable bundles passed from one of the fixed member and the movable member to the other through the hollow pipe member, first cable fixing means for fixing the cable bundles to the fixed member, and second cable fixing means for fixing the cable bundles to the movable member. Each of the cable bundles includes a plurality of cables, and a cable bundling member having an outer diameter smaller than an inner diameter of the hollow pipe member and bundling the plurality of cables in a state where mutual relative arrangement is maintained.

A vacuum coupling applies vacuum from a vacuum source to a rotating tool attached to a rotating end of a robotic arm. The vacuum coupling includes a rotating portion attaching the rotating tool to the rotating end of the robotic arm. The rotating portion communicates vacuum with the rotating tool. A fixed portion is positioned around the rotating portion such that the rotating portion is rotatable relative to the fixed portion. The fixed portion communicates vacuum to the rotating portion. At least one rotating vacuum seal is positioned between the fixed portion and the rotating portion.

The present disclosure relates to cable routing approaches that allow cables to pass through a traditional chain joint without reducing the strength capacity or impairing the range of motion of the joint. The routing approaches permit the cables to be housed inside the structure of the robotic arm and pass through the chain joint in a manner that does not limit the width of the chain.

Provided is an industrial robot that includes: a second arm that is provided, at the distal end of a first arm pivotable about a first axis, in a pivotable manner about a second axis parallel to the first axis; and a wrist that is disposed at the distal end of the second arm and that has a plurality of wrist elements, and including the first wrist element provided in a rotatable manner about a longitudinal axis of the second arm. Motors and that drive the wrist elements, are accommodated in a space inside the first wrist element. The second arm is provided with a hollow portion that communicates with the space. A cable to be wired to the motors is wired into the hollow portion from the outside of the second arm and is relayed by a connector fixed to the wall section at the position of the through-hole.