A stable extension and retraction motion is realized in a robot arm mechanism including a linear extension and retraction joint. In the robot arm mechanism including the linear extension and retraction joint, the linear a extension and retraction joint includes an arm section, and an ejection section for supporting the arm section. The arm section includes a first connection piece string and a second connection piece string. The first connection piece string includes a plurality of first connection pieces. The second connection piece string includes a plurality of second connection pieces each having a substantially flat plate shape. The first connection piece string is joined to the second connection piece string to thereby constitute a columnar body. The columnar body is sent out forward from the ejection section. A guide roller for guiding the second connection piece string to the ejection section and keeping an engaged state of a linear gear provided on the second connection piece and a drive gear is provided behind the ejection section.

A stable extension and retraction motion is realized in a robot arm mechanism including a linear extension and retraction joint. In the robot arm mechanism including the linear extension and retraction joint, the linear a extension and retraction joint includes an arm section, and an ejection section for supporting the arm section. The arm section includes a first connection piece string and a second connection piece string. The first connection piece string includes a plurality of first connection pieces. The second connection piece string includes a plurality of second connection pieces each having a substantially flat plate shape. The first connection piece string is joined to the second connection piece string to thereby constitute a columnar body. The columnar body is sent out forward from the ejection section. A guide roller for guiding the second connection piece string to the ejection section and keeping an engaged state of a linear gear provided on the second connection piece and a drive gear is provided behind the ejection section.

A robot system includes a work bench on which a work piece is placed, and a robot device. The robot device includes: a base; and an arm section that has torsional rotatability around a first axis approximately along a center line of the base, bending rotatability around a second axis that is orthogonal to the first axis, and linear extensibility and retractability along a third axis that is orthogonal to the second axis. Work is performed in collaboration with a worker on the work piece by means of an end effector that is mounted at a tip of the arm section. The base is disposed so that a moveable region of the arm section accompanying rotation around the first axis and the second axis and linear extension and retraction along the third axis overlaps with a working region of the worker.

A purpose is to improve storability of a plurality of connection pieces coupled bendably. A robot arm mechanism includes a revolute joint and a linear extension and retraction joint. The linear extension and retraction joint includes a plurality of first connection pieces coupled bendably and provided with a hollow square cross section and a plurality of second connection pieces coupled bendably and each shaped like a flat plate. The second connection pieces are overlapped on the first connection pieces in upper part of the first connection pieces, thereby forming a columnar body by constraining bending. The columnar body is released when the first connection pieces and the second connection pieces are separated from each other. An ejection section forms the columnar body by joining the first connection pieces to the second connection pieces and supports the columnar body. The plurality of first connection pieces are coupled at an upper part and a lower part of each piece to be folded in a zigzag pattern and stored in a base with top faces of adjacent first connection pieces folded on top of each other and bottom faces of adjacent first connection pieces folded on top of each other alternately.

A purpose is to improve movement characteristics of a linear extension and retraction mechanism. A robot arm mechanism includes a revolute joint and a linear extension and retraction joint. The linear extension and retraction joint includes a plurality of first connection pieces coupled together bendably on a bottom plate side and provided with a U-shaped cross section, and a plurality of second connection pieces coupled together bendably and each shaped like a flat plate. A foremost one of the plurality of second connection pieces is connected with a foremost one of the plurality of first connection pieces. The first and second connection pieces, when overlapped each other, form a columnar body by being constrained from bending. The columnar body is relaxed when the first and second connection pieces are separated from each other. An ejection section forms the columnar body by joining together the first and second connection pieces and supports the columnar body. A linear gear is formed on a surface of a bottom plate of each of the first connection pieces. A drive gear is engaged with the linear gears of the first connection pieces overlapped to the second connection pieces in the ejection section.

A linear extension and retraction mechanism includes a plurality of first connection pieces coupled together bendably; and a plurality of second connection pieces coupled together bendably, wherein back faces of the first connection pieces and back faces of the second connection pieces are overlapped each other, thereby generally forming a columnar body by constraining bending, and the columnar body is relaxed when the first and second connection pieces are separated from each other, the linear extension and retraction mechanism further including an ejection section adapted to support the columnar body.

A linear extension and retraction mechanism includes a plurality of first connection pieces coupled together bendably; and a plurality of second connection pieces coupled together bendably, wherein back faces of the first connection pieces and back faces of the second connection pieces are overlapped each other, thereby generally forming a columnar body by constraining bending, and the columnar body is relaxed when the first and second connection pieces are separated from each other, the linear extension and retraction mechanism further including an ejection section adapted to support the columnar body.

A refuse vehicle includes a chassis, tractive elements, a lift apparatus, and a reach assembly. The tractive elements couple with the chassis and support the refuse vehicle. The lift apparatus includes a track and a grabber assembly. The track includes a straight portion and a curved portion. The grabber assembly releasably grasps a refuse container and ascends or descends the track to lift and empty refuse into a body of the refuse vehicle. The reach assembly includes an outer member, a first extendable member, and a second extendable member. The first extendable member is received within an inner volume of the outer member and translates relative to the outer member. The second extendable member is received within an inner volume of the first extendable member and translates relative to the first extendable member. The lift apparatus is fixedly coupled at an outer end of the second extendable member.

A robotic arm control system including a robotic arm configured to deploy one or more tools in an operating space, one or more sensors, and a control system operably configured to: scan the operating space with the one or more sensors, identify a surface of the operating space based at least in part upon information sensed by the one or more sensors, establish a virtual barrier offset from the surface, and limit movement of the robotic arm based at least in part upon the virtual barrier.

A rigidity of a robot arm mechanism including a linear extension and retraction joint is enhanced. In a robot arm mechanism including the linear extension and retraction joint, the linear extension and retraction joint includes an arm section and an ejection section, the arm section includes a first connection piece string including a plurality of first connection pieces and a second connection piece string including a plurality of second connection pieces, and the second connection piece string is joined to the first connection piece string to thereby constitute a columnar body having a certain rigidity. The ejection section includes lower rollers and upper rollers for joining the first and second connection piece strings and supporting the columnar body. The lower rollers and the upper rollers are disposed with the columnar body sandwiched between the lower rollers and the upper rollers.