Abstract: Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.

Abstract: A robotic vehicle capable of collapsing into a small form factor for ease of transportation and providing for a quick transition to a deployed configuration. The vehicle can be configured to carry a payload when deployed. The vehicle can have an elongate body with two folding spoke-wheels at either end of the body that conform to the shape of the body when collapsed and extend perpendicular to the body when deployed. The vehicle can have an elongate body with two folding arms that each includes a drive motor and a gear assembly. The gear assembly is configured to receive removable wheels at either end of the body. The arms can be parallel to the length of the body when collapsed and extend perpendicular to the body when deployed. The vehicle can include a removable bracket configured to receive an explosive payload.

Abstract: A linear-motion telescopic mechanism according to the present invention includes a plurality of block members (22) by which an arbitrary arm length is achieved in such a manner that the plurality of block member (22) are rigidly connected to each other so as to elongate a linear-motion telescopic joint (J3). On the other hand, by separating the plurality of block members (22) one by one from a rigid alignment of the plurality of block members (22), the linear-motion telescopic joint (J3) is contracted. The block members (22) unfixed from the rigid alignment are still serially connected but not in a rigid manner. That is, the block members (22) thus unfixed can be flexed in any directions, and therefore can be housed inside a support member (1) in a compact manner.

Abstract: A surgical alignment device is disclosed that is controlled remotely through the use of an actuator, where the actuator in turn controls at least one local adjustment device. The alignment device is suited for neurosurgery, although it is not exclusively limited to neurosurgery. The alignment device includes an insertion guide that is coupled to the local adjustment device, the insertion guide being used to guide a device such as a catheter into a patient. The alignment device may also be coupled to a control module such as a microcomputer that controls the orientation of the insertion guide in response to inputs from the surgeon as to a location of interest within the patient.

Abstract: A robot arm assembly includes a support arm, a connecting arm, and an end arm. The support arm is rotatably assembled with the connecting arm along a first axis, and is located at one end of the connecting arm. The end arm is rotatably assembled to the other end of the connecting arm along a second axis substantially perpendicular to the first axis, such that the connecting arm is rotatably assembled between the support arm and the end arm.

Abstract: The present invention relates to a robot hand with a connection part that undergoes stretching deformation according to object shape and a method for controlling a robot hand; the key technical point pertains to a robot hand with a connection part that undergoes stretching deformation according to object shape, comprising: a variable connection device (100) that provides a contact face that enables pressing and contacting a moving target (10) and has a structure wherein a connection part (100a) in contact with said moving target (10) enables stretching deformation; a connection length controller (200) that interfaces with a drive part such as a motor (201) or pump to stretch and deform the connection part (100a) of said variable connection device so that the connection part (100a) of said variable connection device undergoes conversion between a closed-loop state wherein it is continuous with the surface of said moving target (10) or divided into a plurality of sections to be pressed and contacted, and an ope

Abstract: The robot hand includes a planetary gear unit into which a rotational power is input from a motor, first and second drive shafts to which a rotational power output from the planetary gear unit is transmitted, a finger having first and second joints respectively driven by the first and second drive shafts. The planetary gear unit includes a sun gear, a planetary gear meshing with external teeth of the sun gear, a planetary arm connected to the planetary gear to coordinately move with a rotation of the planetary gear on its on axis. The sun gear is connected to the motor. The planetary arm is connected to the first drive shaft. An internal gear is connected to the second drive shaft. A resistance generating unit is disposed for making the motion resistance of the internal gear lager than the motion resistance of the planetary arm.

Abstract: A robot structure that has a base, at least a first arm that moves with respect to the base both in translation and in rotation, a movement mechanism for moving the first arm with respect to the base, a member for accepting a tool, and a power supply assembly. The movement mechanism includes a hollow member which moves in translation with respect to one of either the base or the first arm, while being incapable of translational movement independently of the other of the base or the first arm, and the hollow member being movable in rotation with respect to one of either the base or the first arm, while at the same time being incapable of rotational movement independently of the other of the base or the first arm.

Abstract: A robot arm assembly includes a support member, a first rotating member rotatably connected to the support member, a second rotating member rotatably connected to the first rotating member, and a driving mechanism to drive the first rotating member. The driving mechanism includes a gear transmission mechanism directly coupled to the first rotating member, a driver mounted on the support member and provided with an output shaft coupled to the gear transmission mechanism, and a support mechanism supporting the gear transmission mechanism.

Abstract: An industrial robot includes a joint, a first arm rotatably connected to the joint about a first rotation axis and defining a hollow portion extending along the first rotation axis, a second arm rotatably connected to the first arm about a second rotation axis, a third arm rotatably connected to the second arm about a third rotation axis, a first driver and a first transmission mechanism to drive the first arm, a second driver and a second transmission mechanism to drive the second arm, and a third driver and a third transmission mechanism to drive the third arm. The first, second and third drivers are mounted on the joint. The second transmission mechanism includes a first shaft rotatably received in the hollow portion, and the third transmission mechanism includes a second shaft sleeved on the first shaft.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A wrist structure of a robot arm includes a forearm body, a first rotating assembly, a wrist body, and a second rotating assembly. The first rotating assembly is disposed in the forearm body and drives the wrist body to rotate with respect to the forearm body in a first rotation axis direction. The second rotating assembly is disposed in the wrist body and drives a workpiece to rotate with respect to the wrist body in a second rotation axis direction. The first rotating assembly has a first speed reducer directly connected to the wrist body, so as to directly drive the wrist body at a predetermined speed reduction ratio, thereby obtaining a predetermined torque.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: The present invention provides an eccentric oscillating type speed reducer that can more effectively be cooled with an extremely simple structure. An eccentric oscillating type speed reducer 1 includes a camshaft 11 having crank portions 11a and 11b, a plurality of externally toothed gear members 12 that respectively have holes, each of which accommodates an associated one of the crank portions, and that are eccentrically moved by rotation of the camshaft, an internally toothed gear member 13 having an inner peripheral surface in which internal teeth to be meshed with external teeth formed on external peripheral surfaces of the externally toothed gear members are formed so as to set the number of the internal teeth to be slightly larger than that of external teeth, and support members 14 respectively positioned at both ends of the externally toothed gear members so as to rotatably support both ends of the camshaft.

Abstract: A miniaturized articulated manipulator 20 has a first arm member 31A internally provided with two driving motors 33 and 34, and a second arm member 30B not provided with any devices corresponding to the driving motors 33 and 34 and capable of being miniaturized. The driving motors 33 and 34 can be disposed in common areas 135 at least partially overlapping each other with respect to a direction parallel to the axis of the first arm member 30A and can be arranged in a direction perpendicular to the axis. Thus the first arm member 30A can be formed in a small axial size. Thus the first arm 30A and the second arm 30B can be miniaturized and hence the articulated manipulator 20 can be formed in a short overall length.

Abstract: A robot arm for an industrial robot. The robot arm includes a wrist housing, a wrist, and a turn disc. The wrist is rotatably connected to the wrist housing and the turn disc is rotatably connected to the wrist. A first motor drives the wrist and a second motor drives the turn disc. A first driving rope transmits the motor rotation to the wrist, and a second driving rope transmits the motor rotation to the drive pulley.

Abstract: A parallel link mechanism arranged between a fixed base and a movable base includes a harmonic drive gear reducer, a first arm, a second arm, a connection base, a first auxiliary link, and a second auxiliary link. The harmonic drive gear reducer has a body, an input shaft, a first output shaft, and a second output shaft. The first arm has a proximal end pivotally connected to the fixed base and a distal end connected to the body of the reducer. The second arm has a proximal end connected to the second output shaft and a distal end pivotally connected to the movable base. The connection base is arranged outside the second arm with respect to the reducer and connected to the first output shaft. The first auxiliary link is arranged parallel with the first arm and has an end pivotally connected to the fixed base and an end pivotally connected to the connection base.

Abstract: A joint assembly is provided which includes a drive assembly and a swivel mechanism. The drive assembly features a motor operatively associated with a plurality of drive shafts for driving auxiliary elements, and a plurality of swivel shafts for pivoting the drive assembly. The swivel mechanism engages the swivel shafts and has a fixable element that may be attached to a foundation. The swivel mechanism is adapted to cooperate with the swivel shafts to pivot the drive assembly with at least two degrees of freedom relative to the foundation. The joint assembly allows for all components to remain encased in a tight, compact, and sealed package, making it ideal for space, exploratory, and commercial applications.

Abstract: An elevator assembly includes a carrier, a first arm, and a second arm. Each arm has a primary portion pivotally connected to the carrier and a secondary portion pivotally connected to the primary portion. A first gear system interconnects the first arm and the second arm for synchronous rotation with respect to the carrier in opposite directions. A pair of second gear systems establish a geared relationship between the secondary portions of the arms and the carrier. A support member is connected to the secondary portions of the arms, wherein rotation of the primary portions of the arms with respect to the carrier drives the support member between a neutral position and at least a first extended position.

Abstract: In one embodiment, a robotic manipulator arm includes a robotic joint, a rotational position sensor, and a control system. The rotational position sensor is coupled to the main housing of the robotic joint. The control system is connected to the rotational position sensor. During normal rotational motion toward a commanded motor position of joint output, the control system determines that normal joint un-slipped motion is occurring with respect to the joint output in response to the motor input commands. Responsive to joint slip during commanded motor motion, the control system compares position data from the rotational position sensor to commanded motor position to generate an error value and, based on the error value, compensates for the joint slip.

Abstract: A robot is provided which comprises a wafer blade (105) having a pocket (109) therein for receiving a semiconductor wafer, and a retractable protrusion (107) which is movable from a first position in which said protrusion prevents the removal of said wafer from said pocket, to a second position in which said protrusion permits the removal of said wafer from said pocket.

Abstract: A multi-degree-of-freedom motion mechanism comprises a first linkage unit, a second linkage unit, a driven unit, a connection block and a third linkage unit; the first linkage unit and the second linkage unit are respectively disposed with a first curved projecting section and a second curved projecting section; a driven rod of the driven unit is respectively movably coupled to the first curved projecting section and the second curved projecting section; the connection block is respectively pivotally coupled to a first pivot element of the driven unit and a second pivot element of a third linkage unit. Whereby, the driven unit can then be nimbly controlled to move up and down as well as left and right and rotate relatively to a geometric center point of the connection block through few drive mechanisms.

Abstract: An intermediate segment of a control or other arm, fitted with a transmission for supporting a following segment is made up of a motor which is displaced towards the other end of the segment, preferably beyond the joint to a previous segment in order to reduce the toppling moment on the segment. The transmission includes a movement conversion device using a screw and nut.

Abstract: A method for making a robot pivot arm assembly includes forming from a rigid, machinable material a circular disk, and forming a circular aperture through the center of the disk. An outer bearing track is formed integrally in the inside surface which defines the aperture, and the apertured disk is positioned in a machining device with a fixturing portion that engages the outer bearing track. An integral outer race, an arm and a gear segment with teeth are then machined into the disk to form the outer portion of the pivot arm assembly. An inner race with an inner bearing track is positioned inside the integral outer race, and rolling bearing elements are inserted into the first and second bearing tracks.

Abstract: A robot arm assembly a base unit with a shoulder assembly rotatably disposed on the base unit. A lower robot arm is pivotably attached to the shoulder assembly. An upper robot arm is pivotably attached to the lower robot arm. The base unit includes a first motor which rotates a main shaft fixed to the shoulder assembly to rotate the shoulder. A second motor in the base unit rotates a second shaft in the shoulder assembly extending through the main shaft to pivot the lower robot arm with respect to the shoulder.

Abstract: There is provided a low-cost liquid supply apparatus using a system in which a liquid nozzle is moved, the apparatus being configured so that the installation area of the apparatus is small, a liquid vessel can be installed or removed easily without being hindered by equipment for moving the liquid nozzle, and further the number of parts is small. The liquid nozzle is attached to an arm capable of being turned reversibly around a turning shaft, and the movement of the liquid nozzle is controlled by the turning angle of the arm for either one axis of the X-axis and the Y-axis and is controlled by changing the length of the arm from the turning shaft for the other axis.

Abstract: A joint driving apparatus for a robot comprises an oscillating internally meshing reduction mechanism, a center shaft member, a ring portion, and an oil seal disposed between the ring portion and the center shaft member. The oscillating internally meshing reduction mechanism is fixed to a first member and rotates the second member relatively with respect to the first member. An output member is arranged at the side of an external gear in an axial direction so as to output a relative rotation of an internal gear with the external gear. The center shaft member is fixed to the output member, and has a shaft portion extending up to the side opposite to the external gear in the axial direction of the output member. The ring portion is integrally formed with the first member and faces to the shaft portion of the center shaft member. The oil seal is disposed between the ring portion and the shaft portion.

Abstract: A speed reducer 100 to be attached to an articulated portion of an industrial robot includes a first-stage reduction gear mechanism 10 of a spur gear type speed reducing unit and a second-stage reduction gear mechanism 30 of an eccentric rocking type speed reducing unit, and the output from the eccentric rocking type speed reducing unit is extracted from an internal gear member or a support member. When the input speed to the first input gear unit is 2,000 RPM, the output from the eccentric rocking type speed reducing unit is 20 RPM or higher. The reduction ratio of the first-stage reduction gear mechanism is so selected that individual crankshafts may rotate not over 1,000 RPM when the output from the eccentric rocking type speed reducing unit is 20 RPM or higher.

Abstract: A joint mechanism that can be used in an articulated finger unit of a robot hand has first and second actuators that are disposed facing each other from the front and back on either side of a perpendicular joint axle, and first and second drive bevel gears that are coaxially connected and fixed to distal ends of output axles thereof. A driven bevel gear fixedly mounted in coaxial manner on the perpendicular joint axle meshes with the first and second drive bevel gears. The perpendicular joint axle is rotatably driven by the two actuators, and a revolving bracket connected thereto revolves to the left and right. The drive torque of the joint axle can be increased without increasing the outside diameter dimensions of the mechanism.

Abstract: An object of the invention is to effectively prevent surface abrasion in an eccentric part 47 of a crank pin 45 or breakdown of the crank pin 45. A value N obtained by dividing reduction ratio M in an eccentric oscillation type speed reducer 27 by a diameter D passing a center of pin teeth 29 is set to be smaller than 0.20. As the results, temperature of lubricant in the eccentric oscillation type speed reducer 27 can be depressed below 60° C., even though an output rotation speed at a rated torque of the eccentric oscillation type speed reducer 27 has become 28 rpm or more as required from a tact time or so in a factory, whereby a region between the eccentric part 47 of the crank pin 45 and a needle-shaped roller bearing 48 is always lubricated with the lubricant which exerts required lubricating function.

Abstract: An industrial robot including a drive package with a motor and a gear between an output shaft of the motor and a third shaft of the robot in immediate proximity to the third shaft for rotation of an upper arm of the robot relative to a lower arm. The gear is a multistage gear transmission with parallel gear-wheel axes and one of the gear wheels of the gear is secured to the third shaft.

Abstract: A device (10) for storing and dispensing endless machining belts for a robotic installation, comprising a support (16) rotating about a vertical axis (14) and having radial arms (12), each equipped with means for locating a machining belt, and means for the stepwise rotation of the rotating support, in order to bring each arm in turn to a station where the belt may be fitted onto a robot arm (40).

Abstract: An articulated robot is provided with first, second and third arms respectively having effective lengths substantially equal to each other and capable of turning respectively about first, second and third pivotal axes. The second and the third arm are interlocked by an interlocking mechanism such that the third arm turns about a third pivotal axis relative to the second arm in one of opposite directions through an angle twice as large as an angle through which the second arm turns about a second pivotal axis relative to the first arm in the other direction. The second arm 25 and the third arm 26 are moved in either of first and second working areas respectively extending on the opposite sides of an imaginary plane including a reference line and the first pivotal axis to move hand units along the reference line. Since the second and the third arm are necessarily only in one of the first and the second working region, the articulated robot is capable of operating in a narrow working area.

Abstract: A robotic harmonic flex-drive has an outer generally cylindrical spline having inner diameter gear teeth and an inner generally cylindrical spline having outer diameter gear teeth concentric to the outer spline. A wave generator including a pair of rollers disposed adjacent to an outside surface of the outer spline and an inner surface of the inner spline deforms the outer and inner splines into ellipses whereby the inner diameter gear teeth of the outer spline engage the outer diameter gear teeth of the inner spline at a pair of diametrically opposed points along a major axis of the deformed outer and inner splines.

Abstract: The present gear mechanism includes a base body member (27), a first gear (21, 22) supported on the base body member (27) so as to rotate about a first rotational axis (L2, L3), a second gear (23) capable of being meshed with the first gear (21, 22), a support member (26) supporting the second gear (23) so as to rotate about a second rotational axis (L4) and placed on the base body member (27) so as to be movable in approaching and leaving directions respectively toward and away from the first rotational axis (L2, L3), and a retaining member (32) engaged in a threaded hole formed in the base body member (27) and capable of being turned so as to move in the approaching and leaving directions, and directly or indirectly engaged with the support member (26) to restrain the support member (26) from moving in the leaving direction away from the first rotational axis (L2, L3).

Abstract: An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.

Abstract: A takeout arm assembly (10) for an I.S. glass container forming machine, the arm assembly having a housing (14) that is oscillatible about the central axis of a first shaft (12). The housing has a first gear (16) that is coaxial with the first shaft and oscillatible with the housing, and with respect to the first shaft, the housing further having a second gear (18) that is positioned within and is rotatable with respect to the housing. The second gear is spaced from the first gear with the axes of the first and second gears being parallel to one another. A rack (30) having teeth in engagement with teeth on the first gear and the second gear is caused to move rectilinearly by oscillating motion of a reversible a.c. servo motor (26) that serves to drive the first gear, to thereby transmit turning motion from the first gear to the second gear.

Abstract: An articulated bending mechanism is formed by connecting links which rotatably support a plurality of gears including input-side gears and output-side gears by engaging the gears. Each link rotatably supports an odd number of gears by engaging the gears, and an output-end gear rotates in the same direction as an input-end gear. The output-side gear of one link and the input-side gear of an adjacent link are used in common, and the rotating shaft of the common gear provides a degree of freedom provided at a joint of the articulated bending mechanism. Such an articulated bending mechanism can be formed with a small size and at a low cost, and can be used to imitate the way a living being shows its feelings and emotions.

Abstract: A manipulator is provided that includes a foot part and a number of members connected to the foot part and to each other respectively, and at least a gripper part, such that the members, the gripper and the foot part form an arm. One or more motors are provided in the foot part for moving at least a one of the members and the gripper.

Abstract: A robot is obtained having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is capable of getting up itself when overturned, facilitating take-off and landing on uneven ground, and that has a walking function and that has a hand function capable of three-dimensional operation. A robot comprises a main robot body and at least three legs mounted on this main body for enabling three-dimensional movement of the main robot body such as a self-erecting action or walking action; each leg is constituted by a multi-joint arm having a plurality of said offset rotary joints linked together and has a ground-engaging member mounted at the leading end of the arm, so that each leg is capable of independently controlled three-dimensional movement and drive.

Abstract: In a gear, particularly for a robot, with a drive shaft and at least two parts rotatable relative thereto and to one another, in which a movement of one part is removable on its side remote from the other part, at least one of the rotary parts has a shaft connected in non-rotary manner thereto and which projects at least to the other part.

Abstract: A workpiece transfer device for machine tools that easily achieves positional adjustment of the rack while suppressing increases in cost and therefore preventing occurrences of vibrations and noise is disclosed. The workpiece transfer device includes a frame member having a rectangular cross-section. The device extends from a workpiece machining position to a workpiece loading/unloading position. A support member is hung on the frame member so as to be movable via a linear guide and which has a workpiece holding mechanism mounted thereon. A drive mechanism for rotationally driving a pinion gear engaged with a rack is provided on the frame member so as to be parallel to the linear guide so that the support member is moved between the two positions. The linear guide is disposed on one wall of the frame member and the rack is disposed on another wall surface so as to have its position adjustable.

Abstract: A robotic arm and hand for imitating the human hand. The robotic arm and hand includes a motor member being coupled to a frame member. The motor member is designed for being operationally coupled to the control system and a power source whereby the control system is for controlling power from the power supply to the motor member. A drive assembly is operationally coupled to the motor member whereby the drive assembly is rotated by the motor member. A plurality of cable assemblies are coupled to the drive assembly whereby each of the cable assemblies is actuated by the drive assembly when the drive assembly is rotated by the motor member. A plurality of phalange assemblies are coupled to the cable assemblies. Each of the phalange assemblies is designed for being moved like the fingers of a human when the cable assemblies are actuated by the drive assembly.

Abstract: A cable laying structure for a robot, which does not interfere with external devices in a periphery of a forearm. Camera (or force sensor) and hand control cables and motor control cables CB are drawn into a robot mechanism through a connection panel of a base of a robot main body. While allowing the motor control cables to sequentially diverge, the control cables CB are arranged in a robot arm along an upper arm portion and guided to the forearm. The control cables CB are introduced into the forearm with a shield and a sheath removed, and clamped at an appropriate position. After reaching an end effector-mounting face, the control cables CB are connected to a camera (or force sensor) C/S and a hand. The forearm is formed of conductive material and grounded on the base of the robot main body so as to have the same electric potential as the base by using means such as an earth cable or the like, and therefore the forearm is utilized in replacement of the shield.

Abstract: A traveling wave generator includes at least a base link and end link and an intermediate link; a pivot device pivotably interconnecting each pair of links; a drive mechanism interconnecting each pair of links including a drive shaft and a cam on the first link of the pair and on the second link of the pair a follower for engaging the cam for inducing a traveling wave motion in the links; a flexible power transmission device interconnects the shafts of each of the base and intermediate links; and a motive source rotates the shafts.

Abstract: A first base-side pulley is disposed at the base portion of a first arm portion; a first distal-side pulley is disposed at the distal portion of the first arm portion; a second base-side pulley is disposed at the base portion of a second arm portion; a second distal-side pulley is disposed at the distal portion of the second arm portion; the first base-side pulley is fixed to the support base; the chuck is fixed to the second distal-side pulley; the first distal-side pulley and the second base-side pulley are connected to each other via a connection shaft; the first base-side pulley and the first distal-side pulley are connected to each other via a first rotation transmission section; and the second base side pulley and the second distal-side pulley are connected to each other via a second rotation transmission section. Thus, an articulated robot arm having first and second arm portions is constructed.

Abstract: A wrist mechanism of an industrial robot is described which have a first ring-shaped hollow reduction unit secured to an arm of the robot, and a first hollow drive tube and a second ring-shaped hollow reduction unit secured to an output shaft of the first reduction unit, respectively. The wrist mechanism further have a second hollow drive tube and a third ring-shaped hollow reduction unit secured to an output shaft of the second reduction unit, respectively, and a third hollow drive tube secured to an output shaft of the third hollow reduction unit rotatably around a first axis. The first, second and third hollow drive tubes are connected to first, second and third wrist elements, respectively, to rotate each of the wrist elements relative to each other, which leave a hollow space inside thereof free for passage of supply cables and pipes which are to be connected to a tool being secured to the robot wrist.

Abstract: In a gear, particularly for a robot, with a drive shaft and at least two parts rotatable relative thereto and to one another, in which a movement of one part is removable on its side remote from the other part, at least one of the rotary parts has a shaft connected in non-rotary manner thereto and which projects at least to the other part.

Abstract: An turning shaft 1 which turns a torch with keeping it on a normal line to the turning shaft is connected with an end of an first rotation shaft 2 which is arranged at a right angle to the turning shaft 1. A second rotation shaft 3 is connected with the first rotation shaft 2. Both the rotation shafts are connected with each other through a first arm 4, and a second arm is connected with with the rotation shaft 3. a first fixed gear 14 is fixed to the first rotation shaft 2, and a second fixed gear 15 is fixed to the second arm 5. a middle gear 16 is arranged between both the fixed gears, and a rotation axis 16c is fixed to the first arm 4. a motor 17 is mounted above the upper bent portion 4a and a gear 17a is engaged with the first fixed gear 14.

Abstract: A robot with multi-joint arms, wherein articulated first and second arms 9, 10 are movable in a horizontal plane as well as in a vertical direction, the second arm having a free end to which a supplementary unit A is removably connected, the supplementary unit A including a joint member 17 adjustably connected to the free end of the second arm 10 and a working member 18 removable connected to the joint member 17. The working member 18 has a predetermined length Lx which determines the effective length L2 of the second arm 10, and wherein the data representing the effective length L2 of the second arm is entered to renew the existing effective length of the second arm to produce new data representing the value of the newly entered effective length L2 of the second arm 10, the new data being employed to calculate out the value to control the operations of the first and second arms 9, 10.