Embodiments relate to robotic arm assemblies. Robotic arm assembly includes an arm segment and end-effector assembly. Arm segment includes an elongated body which forms an arm segment central axis. End-effector assembly is securable to the arm segment. End-effector assembly includes an instrument assembly and first gear assembly. Instrument assembly includes an instrument and instrument gear. Instrument forms an instrument central axis. Instrument is for performing an action. Proximal end of instrument is secured to the instrument gear. First gear assembly includes a first primary gear and protrusion portion. First primary gear includes a second central axis formed through the first primary gear. Second central axis intersects with first central axis, instrument central axis, and arm segment central axis. Protrusion portion is secured to the first primary gear, and includes an opening. A portion of the proximal end of the instrument is provided in the opening and rotatable within the opening.

A feeding device includes a feed base that is horizontally installed, a first driving source and a second driving source, a first saddle, a second saddle, a first propeller shaft, a second propeller shaft, a first transmission device, a second transmission device, and a holding device. The first saddle rotates about a first axis that goes along a vertical direction. The second saddle is disposed at the first saddle. The second saddle rotates about a second axis. The second axis goes along a horizontal direction. The first propeller shaft transmits a torque from the first driving source. The second propeller shaft transmits a torque from the second driving source. The first transmission device transmits a rotation of the first propeller shaft to the first saddle. The second transmission device transmits a rotation of the second propeller shaft to the second saddle. The holding device holds the object.

A connection module includes a shaft member that can be rotated in place and can be lifted up and down, two wires arranged side by side and spirally wound on the shaft member, and an holder block connected with the bottom end of the shaft member and the bottom end of each wire such that the holder block drives the two wires to expand or to contract along the axial direction of the shaft member or to spiral in the axial direction of the shaft member when the holder block is driven by the shaft member. Thus, the connection module of the present invention can simplify the conventional complicated wiring mode, thereby saving operation space and reducing the risk of line breakage.

A multi-arm hanging rail type casting cleaning robot comprises a traveling device, a rotating device, a lifting device, a working arm mounting seat, and four working arms mounted on an annular rail, wherein in addition to pneumatic grippers and magnetic cranes, cleaning tools such as pneumatic air picks and plasma cutters are further provided on end effecters of the working arms. The traveling device of the present invention adopts a four-point hanging supporting mode to realize long-distance stable traveling. Large arm adjusting cylinders and small arm adjusting cylinders are used to replace servo reducing motors to adjust postures of the working arms. The four working arms can jointly and synchronously work. The two pneumatic grippers, the two magnetic cranes, and the four cleaning tools can be flexibly transformed and replaced. The needs of cleaning operations can be satisfied.

The present disclosure discloses a multi-degree-of-freedom driving arm and a dual-arm robot using the arm, the multi-degree-of-freedom driving arm comprises a single-degree-of-freedom driving module and a plurality of dual-degree-of-freedom driving modules, and the single-degree-of-freedom driving module and the dual-degree-of-freedom driving module located at the innermost side are coupled to each other; the dual-degree-of-freedom driving module has two orthogonal rotational degrees of freedom, and comprises a first driving mechanism that is configured to drive the dual-degree-of-freedom driving module to rotate in the first rotational degree of freedom, and a second driving mechanism that is configured to drive the dual-degree-of-freedom driving module to rotate in the second rotational degree of freedom; the first driving mechanism of the dual-degree-of-freedom driving module located on outer side is disposed on the second driving mechanism of the dual-degree-of-freedom driving module adjacent thereto and located on inner side. The robot has seven degrees of freedom for each arm, so that it is flexible and suitable for performing various complicated tasks; the robot has low cost and compact structure, and the energy density of the self-structure per unit volume is maximized; the arm has a modular structure that ensures excellent interchangeability and saves on maintenance costs.

A gear mechanism including: a pair of housings that are combined in a positioned state by mating a cylindrical inner surface and a cylindrical outer surface centered on a first axis with each other; two first gears that are attached to one housing so as to be rotatable about the first axis and a second axis parallel to the first axis; and two second gears that are rotatably attached to the other housing, and that are respectively engaged with the two first gears in a state in which the pair of housings are combined. The first gear that is attached so as to be rotatable about the second axis and the second gear that is engaged with the first gear are arranged at positions where an inter-axial distance therebetween is changed by means of a relative rotation of the housings about the first axis.

A servo includes a housing and a motor, a reduction gear drive mechanism, an output shaft, a position sensor and at least two stage of transmission gears. The reduction gear drive mechanism is connected with motor and the output shaft of the servo, the reduction gear drive mechanism used to transmit power from the motor to the output shaft of the servo. A head stage of the transmission gear is located on a tail end of the output shaft of the servo, and the position sensor is located at an axis of a tail stage of the transmission gear. The at least two stage of transmission gears transmit a rotation angle of the output shaft of the servo to the position sensor by a ratio of 1:1, the position sensor is not arranged coaxially with the output shaft of the servo.

A driving mechanism includes a first link, a second link that relatively swings or rotates with respect to the first link, a driving portion that is supported by the first link and that applies a driving force for driving the second link, a sensor that is disposed between the driving portion and the second link and that outputs displacements of the driving portion and the second link, and a wiring member that is supported by the first link, the second link, and the driving portion.

An arm assembly of a robot includes a servo coupled to the chest of the robot, an upper arm driven by the servo, a forearm rotatably coupled to the upper arm, a hand connected to an end of the forearm and rotatable about a first axis extending along a lengthwise direction of the forearm; and a hand transmission mechanism configured to transmit motion from the servo to the hand so as to drive the hand to rotate about the first axis.

A robot arm comprising a joint mechanism for articulating one limb of the arm relative to another limb of the arm about two non-parallel rotation axes, the mechanism comprising: an intermediate carrier attached to a first one of the limbs by a first revolute joint having a first rotation axis and to a second one of the limbs by a second revolute joint having a second rotation axis; a first drive gear disposed about the first rotation axis, the first drive gear being fast with the carrier; a second drive gear disposed about the second rotation axis, the second drive gear being fast with the second one of the limbs; a first drive shaft for driving the first drive gear to rotate about the first rotation axis, the first drive shaft extending along the first one of the limbs and having a first shaft gear thereon, the first shaft gear being arranged to engage the first drive gear; a second drive shaft for driving the second drive gear to rotate about the second rotation axis, the second drive shaft extending along the first one of the limbs and having a second shaft gear thereon; and an intermediate gear train borne by the carrier and coupling the second shaft gear to the second drive gear, the intermediate gear train comprising an intermediate shaft arranged to rotate about an axis parallel with the first rotation axis, the intermediate shaft having a third shaft gear thereon, the third shaft gear being arranged to engage the second drive gear.