Abstract: A motor driven screwdriver has a drive train including a driving shaft, a driven shaft, and a planetary transmission arranged between the shafts, a measuring value transducer located in the drive train for determining a torque transmitted in the drive train, the measuring value transducer having a torsion shaft which transmits the drive torque, the torsion shaft being formed as a part of the driven shaft, and the driven shaft having an end which faces the planetary transmission and carries planetary gears of the planetary transmission.

Abstract: For the attachment of a battery pack to a power hand tool, a plug-type connection is suggested which has a circular insertion part on the battery casing and a corresponding locating arrangement (3) on the power hand tool. Both parts have concentric power contacts and locking means, which when the casing (16) is axially inserted, engage automatically. By a short twist, the locking means can be released, and the battery casing (16) can be removed for recharging.

Abstract: Robot joint with an electric drive motor (30), a limit switch (36) for a safety shut off of the same, and a sensor (100) for the zero position-scanning of the joint. The limit switch (36) is actuated by annular segment like platform pieces (50) which are securable in different angle positions on a front face of the one robot part (12). For this purpose, a divided support ring (72,74) is provided which is securable in different angle positions independent from the platform pieces (50) and which has a side face (96,98) which influences the sensor (100).

Abstract: A robot joint has a support carrying a rotary robot arm. An electric drive motor is mounted on the support and its drive shaft is coupled to the robot arm by harmonic drive-type reduction gears. The reduction gears include an elastically deformable, externally toothed ring whose elliptical shape is rotated by the drive shaft. The externally toothed ring itself is stationary and is firmly connected to the support by a flexible sleeve provided at its free end with a rigid mounting flange. The annular mounting face of the flange and the opposite mounting face on the support is each provided with radial teeth, preferably in the form of Hirth-type gears, which guarantee an accurate centering of the sleeve and safeguard the same against turning. Preferably, the flange is fastened to the end face of a steel bushing which is pressed into a bore in the support and secured against turning by knurled serrations.