Implementations relate to a counterbalance mechanism including a force transformation mechanism that provides a drive ratio. In some implementations, a counterbalance apparatus includes a spring, a first tension element, a second tension element, a force transformation mechanism coupled to the spring by the first tension element and coupled to the second tension element, and a plurality of counterbalance pulleys coupled to the second tension element. At least one of the counterbalance pulleys is coupled to a load that is moveable with reference to a mechanical ground, and a force provided by the spring is modified in magnitude by the force transformation mechanism and is applied to the load via the second tension element. The force transformation mechanism includes a plurality of elements and the modification of the force is based on a drive ratio of the elements of the force transformation mechanism.

The present invention provides a horizontally movable 7-axis multi-joint robot, including: a robot arm to which a plurality of arm units is coupled through multi-joints; a transport member, which is movable along a guide rail installed in a horizontal direction wherein the robot arm is coupled thereto; a base seated on the transport member, to which the robot arm is coupled; and a weight balancing arm prepared such that any one of the above arm units is eccentrical on the base, which has a weight pendulum prepared in opposite to the robot arm, thereby preventing the weight from being concentrated toward the robot arm.

A robot according to this disclosure includes a vertical multi-joint robot arm including a plurality of joints each of which rotates about a rotation axis; and a tube including at least one of an electric cable and a fluid hose. The tube overlaps a circular area(s) that centers/center the rotation axis/axes of the predetermined joint(s) and has/have a radius(radii) of a distance(s) between the rotation axis/axes of the predetermined joint(s) and an exterior surface(s) of the predetermined joint(s) as viewed in an extension direction(s) of the rotation axis/axes, arranged inside an exterior shape(s) of the predetermined joint(s) as viewed in a direction orthogonal to the rotation axis/axes of the predetermined joint(s).

A gear has a central ring positioned about an axis, opposing tabs that extend from a first axial side of the central ring, and a shouldered ring that extends from a second axial side of the central ring, the shouldered ring having a lip that extends radially inward toward the axis.

There is provided a mechanical avatar assembly for use in a confined space in a structure. The mechanical avatar assembly includes a rail assembly for attachment to an access opening to the confined space. The rail assembly includes two or more rail segments coupled together to form an elongated base having a rail and a gear rack extending along a length of the elongated base. The rail assembly further includes a carriage portion coupled to the rail, and movable relative to the rail, and a drive assembly coupled to the carriage portion and to the gear rack, to move the carriage portion along the rail. The mechanical avatar assembly further includes an articulating avatar arm coupled to, and movable via, the carriage portion. The mechanical avatar assembly further includes an image capturing device.

An accommodating device is provided. The accommodating device includes a first element, a second element, a first fixing element, and a second fixing element. The second element is pivotally connected to the first element. The first fixing element includes a first end and a second end, and the first end is affixed to the first element. The second fixing element includes a third end and a fourth end, and the third end is affixed to the second element. When the accommodating device contains an object, the first fixing element and the second fixing element are in contact with the object.

The embodiments of the disclosure provide a mobile operating robot including a movable platform, a height adjustment assembly, a displacement assembly and an end effector, wherein the height adjustment assembly is disposed on the movable platform; a fixed end of the displacement assembly is coupled to the height adjustment assembly; a free end of the displacement assembly is capable of performing spatial displacement relative to the fixed end; and the end effector is coupled to the free end of the displacement assembly for executing a predetermined operation.

A robot includes a body, a pair of wheels rotatably provided at a lower part of the body, a cargo box provided at an upper part of the body, an inertial measurement sensor configured to measure a tilt angle of the body, a pair of wheel encoders configured to measure a rotational angle of each of the pair of wheels, a cargo box encoder configured to measure a tilt angle of the cargo box, a pair of wheel motors configured to transmit a torque to each of the pair of wheels, a cargo box motor configured to transmit a torque to the cargo box, and a controller. The controller is configured to control the pair of wheel motors and the cargo box motor to allow the robot to make a double axis inverted pendulum motion on an axis of each of the pair of wheels and the cargo box.

A system for manipulating a panel includes a supporting frame, an orienting frame, and a plurality of grippers. The orienting frame is coupled to the supporting frame and is movable in six degrees of freedom relative to the supporting frame. The grippers are coupled to the orienting frame and are configured to be releasably coupled to the panel.

A counterbalance device for an apparatus with composite joints is provided. The apparatus includes a frame, a first movable member translatable relative to the frame in a first direction, and a second movable member rotatable relative to the first movable member about a first axis. The counterbalance device includes: a force output mechanism configured to provide an output force; a distribution mechanism connected to the force output mechanism, to allow the force output mechanism to apply the output force to the distribution mechanism; and a pulling mechanism connected to the distribution mechanism, to allow the pulling mechanism to act on the distribution mechanism. The pulling mechanism is connected to and translatable relative to the first movable member in the first direction. The pulling mechanism is further connected to the second movable member, and is translatable in the first direction with rotation of the second movable member about the first axis.