A multiaxial robot of multitasking includes a base, a plurality of arms, at least one wrist, a first engaging structure, and a second engaging structure. The arms are sequentially connected from the base, and any adjacent two of the base and the arms are configured to rotate relative to each other. The wrist is connected to the farthest arm arranged relative to the base and configured to rotate relative to the connected arm. The first engaging structure is disposed on the wrist and configured to connect a first tool. The second engaging structure is disposed on one of the arms and configured to connect a second tool.

A coating system includes coating robots configured to coat a vehicle, and an operation robot. The operation robot includes a first arm configured to turn around a first axis; a second arm configured to turn around a second axis parallel to the first axis; a third arm configured to turn around a third axis parallel to the first axis; a fourth arm configured to turn around a fourth axis perpendicular to the first axis; a fifth arm configured to turn around a fifth axis parallel to the fourth axis; and a tip jig is supported at the fifth arm and is configured to turn around a sixth axis. The sixth axis is selectively parallel to the fifth axis or perpendicular to a plane which includes the fourth axis and the fifth axis.

A joint shaft structure includes: a base member; an output shaft member supported on one side of the base member so as to be rotatable; and a strain wave gear reducer rotating the shaft member relative to the base member by transmitting rotation of a motor to the shaft member while reducing the speed of the rotation. The reducer includes: a wave generator fixed to a shaft rotated by a driving force from the motor; a flexspline having, at one end, an elastic part which includes a plurality of external teeth and inside which the generator is fitted; and a ring gear disposed on a radially outer side of the flexspline and fixed to the shaft member, and having internal teeth meshing with the external teeth. The flexspline is fixed to the base member at the other end disposed farther on the base member side than the elastic part.

A vacuum operated object lifting system is disclosed that can use air pressure differentials to anchor the lifting system to the floor or other structure. The vacuum lifting system includes a main structure having a space defined in the bottom thereof and a lifting arm system extending from the main structure for grasping and moving a load. The vacuum lifting system includes a vacuum pumping system including an air pump and a conduit system extending from the air pump to the space in the bottom of the main structure. Use of the air pump to draw air out of the conduit system creates pressure differential between ambient air pressure and air pressure in the space of the main structure to anchor the vacuum lifting system to the ground. The vacuum pumping system may also grasp the load by suction.

In a box assembly device, a holding mechanism causes one of bottom boards to contact a first jig and folds the bottom board inside, while the holding mechanism holding the box material in a state where the box material is developed in a cylindrical shape from a folded state. The folding mechanism folds the bottom flap inside so as to overlap with one of the bottom boards. The holding mechanism causes the other bottom board to contact the second jig while holding the box material and folds the other bottom board inside and upwardly so as to overlap with the bottom flap to engage the bottom boards with each other.

A robot system includes a robot having an arm including a first arm coupled to a base and pivoting about a first pivot axis and a second arm coupled to the first arm and pivoting about a second pivot axis parallel to the first pivot axis, and a first motor pivoting the first arm about the first pivot axis, and a control apparatus having a first motor control unit that controls the first motor. The robot has an inertial sensor that detects an angular velocity about a roll axis of the arm or an acceleration in a tangential direction of a circle around the roll axis, and the first motor control unit controls the first motor based on the angular velocity or acceleration.

A dual-arm robot assembling system including a controlling unit, a GUI, a first robotic-arm, and a second robotic-arm is disclosed. The GUI provides a graphic program editing page, which provides multiple instruction blocks used for editing a graphical program executed by the assembling system. At least one of the first robotic arm and the second robotic arm is disposed with a point-teaching tool thereon. Before the controlling unit controls the two robotic arms to perform an assembling operation based on the graphical program, a manager may directly drag the two robotic arms through the point-teaching tool, so as to implement a point-teaching procedure for the two robotic arms. Therefore, the assembling system may accomplish the assembling operation through the two robotic arms with cooperative movement.

A substrate assembling device (1) includes a first end effector 10 attached to a first arm (3), a second end effector 20 attached to a second arm (3), and a controller 4. The second end effector 20 includes a pair of grippers 22 configured to grip a second substrate 102, and a placing part 23 where threaded elements are placed. The controller 4 is adapted to control operations of the first arm and the second arm to position the second substrate 102 on a first substrate 101 while gripping the second substrate 102 by using the pair of grippers 22 of the second end effector 20, and hold the threaded element placed on the placing part 23 of the second end effector 20 and fasten the held threaded element, by using the first end effector 10, to join the first substrate 101 and the second substrate 102 together.

A control method executes a first step of actuating a brake to decelerate a robot arm, a second step of releasing or relaxing the actuation of the brake when one of Conditions A1, A2, and A3 is satisfied after deceleration of the robot arm, and a third step of actuating the brake again to restrict driving of the robot arm when one of Conditions B1, B2, and B3 is satisfied after release or relaxation of the brake, Condition A1: a velocity of the robot arm becomes a predetermined value or less; Condition A2: a contact state between the robot arm and the object becomes stable; Condition A3: time TA elapses; Condition B1: time TB elapses; Condition B2: a movement amount of the robot arm becomes a predetermined value or more; and Condition B3: the contact state between the object and the robot arm is released or relaxed.

A robotic apparatus includes a first guide rail; an elongate support attached to the first guide rail, the elongate support being movable along the first guide rail in two directions and rotatable at each position along the first guide rail; a first limb movable along a second guide rail in the elongate support, the first limb being extendable and retractable; a second limb pivotably attached to the first limb; an end effector mount located at the second limb and rotatable at one end of the second limb; and a third guide rail attached to the elongate support to guide movement of the elongate support in the two directions that the elongate support is movable along the first guide rail; and driving mechanisms to drive movements of the robotic apparatus.