A robotic tool changer for machining center includes a drive mechanism, a first motor, and a rotary seat which are mounted on a body. The drive mechanism includes a first rotating shaft, a second rotating shaft, a first swing arm, a second swing arm, and a linkage member. The first rotating shaft and the second rotating shaft are arranged in parallel. The first swing arm is connected to the first rotating shaft while the second swing arm is connected to the second rotating shaft. Two ends of the linkage member are pivotally connected to the first swing arm and the second swing arm respectively. An end of the second rotating shaft is fixed to the rotary seat. Thereby, when the first motor drives the first rotating shaft to rotate, the rotary seat is driven to turn over. Thereby, with the configuration of the first motor and the drive mechanism, the hydraulic oil leakage and the environmentally unfriendly subsequent treatment of the hydraulic oil when the hydraulic cylinder is used as a power source can be improved.

A refuse vehicle includes a chassis, multiple tractive elements, a reach assembly, and a lift assembly. The multiple tractive elements are coupled with the chassis and configured to support the refuse vehicle. The reach assembly is coupled with the refuse vehicle. The lift assembly is coupled with the reach assembly. The lift assembly includes a track and a fully-electric grabber assembly. The track includes a straight portion and a curved portion. The fully-electric grabber assembly can ascend or descend the track and includes a carriage, a first grabber arm, a second grabber arm, and an electric motor. The carriage is configured to movably couple with the track. The first grabber arm and the second grabber arm are pivotally coupled with the carriage at opposite ends of the carriage. The electric motor is configured to drive the first grabber arm and the second grabber arm to rotate relative to the carriage.

A robot including a first upper arm rotatable about a shoulder axis; a second upper arm rotatable about the shoulder axis; a first forearm above the first upper arm and adapted for rotation relative to the first upper arm about a second axis; a second forearm coupled to the second upper aim and adapted for rotation about a third axis; a first wrist coupled to the first forearm; a second wrist coupled to the second forearm; a first forearm shaft having a first cam surface rigidly coupled to the first upper arm and to a first wrist driving member; a first wrist driven member having a second cam surface and coupled to the first wrist; and a first wrist transmission element, where the cam surfaces and the first wrist transmission element are configured to enable a nonlinear rate of rotation of the first wrist with respect to the first forearm.

An apparatus including a drive having motors and coaxial drive shafts; an arm assembly having a first arm and a second arm; and a controller. The first arm includes a first upper arm, a first forearm, a first end effector, and a first transmission, where the first transmission includes a non-circular pulley, and where the first upper arm and the first forearm have unequal effective lengths. The second arm includes a second upper arm, a second forearm, a second end effector, and a second transmission, where the second upper arm and the second forearm have substantially equal effective lengths. The controller is configured to cause the drive to extend and retract the arms to move an upper substrate and a lower substrate on the substrate holding areas such that the arm assembly and upper substrate do not travel over the lower substrate.

An apparatus including a drive having motors and at least two coaxial drive shafts; an arm connected to the drive, where the arm is configured to support at least one substrate thereon; and a transmission connected between the drive and the arm, where the transmission includes an eccentric bearing and a linkage, where the linkage is connected between a first one of the coaxial drive shafts and the arm, where the eccentric bearing is connected to a second one of the coaxial drive shafts, where the arm comprises an aperture, where the eccentric bearing is located in the aperture, and where the eccentric bearing is configured to contact the arm in the aperture.

A refuse vehicle includes a chassis, multiple tractive elements, a reach assembly, and a lift assembly. The multiple tractive elements are coupled with the chassis and configured to support the refuse vehicle. The reach assembly is coupled with the refuse vehicle. The lift assembly is coupled with the reach assembly. The lift assembly includes a track and a fully-electric grabber assembly. The track includes a straight portion and a curved portion. The fully-electric grabber assembly can ascend or descend the track and includes a carriage, a first grabber arm, a second grabber arm, and an electric motor. The carriage is configured to movably couple with the track. The first grabber arm and the second grabber arm are pivotally coupled with the carriage at opposite ends of the carriage. The electric motor is configured to drive the first grabber arm and the second grabber arm to rotate relative to the carriage.

An apparatus includes a first arm comprising an unequal-link linkage having a first end effector; a second arm comprising an equal-link linkage having a second end effector; and a drive unit coupled to the first arm and the second arm, the drive unit being configured to move the first arm and the second arm. The first end effector is asymmetric to the second end effector. The first end effector is angled relative to the second end effector such that a first substrate support section on the first end effector is not positioned over or under a second substrate support section on the second end effector.

A robot arm according to the present invention includes: a shoulder joint assembly which is connected to an upper arm portion, and includes a drive unit for generating driving power; an elbow joint assembly which is provided between the upper arm portion and a forearm portion, and operates by being supplied with driving power from the drive unit; and a wrist joint assembly which is provided between the forearm portion and a hand portion, and operates by being supplied with driving power from the drive unit.

A transport apparatus including a drive; a first arm connected to the drive, where the first arm includes a first link, a second link and an end effector connected in series with the drive, where the first link and the second link have different effective lengths; and a system for limiting rotation of the end effector relative to the second link to provide substantially only straight movement of the end effector relative to the drive when the first arm is extended or retracted.

An apparatus including a robot drive, a first arm having a first upper arm, a first forearm and a first end effector, where the first end effector comprises a first and second substrate support sections and a leg located between the first and second support sections which connects the substrate support sections to a wrist joint with the first forearm, and where a connection of the leg to the wrist joint is offset unequal distances relative to respective centerlines of the first and second substrate support sections, and a second arm having a second upper arm connected to the robot drive, where the first and second upper arms are connected to a first shaft of the robot drive to be rotated in unison, and where the wrist joint does not intersect the drive axis while the first arm is being extended and retracted.