Patent Application
20110126661
1. Technical Field
The present disclosure generally relates to robotic technologies, and particularly, to an industrial robot.
2. Description of Related Art
A commonly used industrial robot includes a fixed base, a frame pivotally connected thereto about a first rotation axis, a lower arm, one end of which is pivotally connected to the frame about a second rotation axis, and an upper arm, one end of which is pivotally connected to the other end of the lower arm about a third rotation axis. An actuator, such as a welding device, a gripper or a cutting tool, is mounted at a distal end of the upper arm of the industrial robot to execute specific tasks. Generally six axes are utilized to achieve maximum movement of the actuator.
In robots of this kind, each arm rotates around a rotation axis driven by a driving unit. Typically, the driving unit includes a motor mounted on the lower arm and a speed reducer coupled to the motor to transmit the movement of the motor to the upper arm. The speed reducer may be a high gear ratio gear, such as a harmonic gear reducer, a RV reducer (rotary vector reducer), or a planetary reducer. The motor and the speed reducer are arranged along the rotation axis of the arm, rendering the range along the rotation axis relatively large. In a six-axis industrial robot, the fifth arm is rotatably connected to the sixth arm and may be perpendicularly positioned. The fifth and sixth arms are respectively driven by two driving units arranged adjacent to each other, such that the combined fifth and sixth arms are relatively large. As a result, the industrial robot needs considerable space to operate freely and safely. In addition, the cables connected to the motors for transmitting signals and power are inserted into the inner of the robot, thus abrasion between the cables and the components of the robot is produced.
Therefore, there is room for improvement within the art.
The components in the drawings are not necessarily drawn to scale, the emphasis instead being placed upon clearly illustrating the principles of the present disclosure. Moreover, in the drawings, like reference numerals designate corresponding parts throughout the several views.
Referring to
Referring to
The joint 14 includes a first support portion 142 and a second support portion 143 fixed to the first support portion 142. The first support portion 142 defines a first assembly hole 1421 for receiving an end of the first arm 15. Two bearings 1423 are received in two ends of the first assembly hole 1421 to rotatably support the first arm 15. The first support portion 142 further includes a connection portion 1422 extending from the outer surface of the first support portion 142, which defines a connection hole 1424 therein, whereby the joint 14 is mounted to the lower arm 13 of the industrial robot 100.
The second support portion 143 includes a bottom surface 1431 and a sidewall 1432 extending substantially perpendicular to an outer edge of the bottom surface 1431. The bottom surface 2131 and the sidewall 2132 cooperatively define a receiving space 1433. The side of the sidewall 1432 away from the bottom surface 1431 is fixed to the first support portion 142. The receiving space 1433 communicates with the first assembly hole 1421 of the first support portion 142 The bottom surface 1431 defines three second assembly holes (not labeled) thereon. The first, second and third drivers 21, 23, 25 are mounted on the bottom surface 1431 of the second support portion 143. The output shafts of the drivers 21, 23, 25 are substantially parallel to each other and received in a corresponding second assembly hole, respectively. In such a manner, the cables connected to the drivers 21, 23, 25 can be drawn from the external space of the industrial robot 100, thus abrasion between the cables and the components of the industrial robot 100 can be avoided, in addition to facilitating the arrangement of the cables.
The first arm 15 defines a hollow portion 151 substantially extending along the first rotation axis 181. A first end of the first arm 15 is rotatably connected to the joint 14, and a second end of the first arm 15 opposite to the first end is rotatably connected to the second arm 16.
The first transmission mechanism is mounted between the first driver 21 and the end of the first arm 15 adjacent to the joint 14. The first transmission mechanism may be a three-stage transmission including a first gear 221 coupled to the output shaft of the first driver 21, a second gear 223 secured to the outer circumference of the first arm 15, and two pairs of middle gears 226. The first gear 221 is smaller than the second gear 223. The middle gears 226 are received in the receiving space 1433 and rotatably supported by corresponding bearing bases 225 fixed with the first support portion 142. Since the second gear 223 is sleeved on the outer surface of the first arm 15, the second gear 223 can achieve a relatively large diameter, thus achieving a large reduction ratio.
The second transmission mechanism is capable of transmitting the movement from the second driver 23 to the second arm 16. The second transmission mechanism includes a first shaft 241, a first single stage transmission 242 mounted between the first shaft 241 and the second driver 23, and at least one pair of gears (not labeled) between the first shaft 241 and the second arm 16 for transmitting rotation motion.
The first single stage transmission 242 includes a first gear 2421 coupled to the output shaft of the second driver 23, and a second gear 2422 mounted on the end of the first shaft 241 received in the receiving space 1433.
The third transmission mechanism is capable of transmitting the movement from the third driver 25 to the third arm 17. The third transmission mechanism includes a second shaft 261, a second single stage transmission 262 mounted between the second shaft 261 and the third driver 25, and at least one pair of gears (not labeled) between the second shaft 261 and third arm 17 for transmitting rotation motion.
The second single stage transmission 262 includes a first gear 2621 coupled to the output shaft of the third driver 23, and a second gear 2622 mounted on the end of the second shaft 261 received in the receiving space 1433.
The second shaft 261 defines a through hole 2612 extending along the axis thereof. The first shaft 241 is rotatably received in the through hole 2612 with two opposite ends extending out of the through hole 2612. The second gears 2422 and 2622 are offset in the position along the first rotation axis 181, thus reducing the outer diameter of the first arm 15. The first shaft 241 is rotatably supported by a bearing (not shown) received in the through hole 2612 of the second shaft 261. The second shaft 261 is rotatably supported by bearings 1512 received in the hollow portion 151 of the first arm 15. It should be understood that, alternatively, the first shaft 241 may define a through hole (not shown), in which the second shaft 261 is received with its two ends extending out of the through hole.
The first transmission mechanism, the first single stage transmission 242 of the second transmission mechanism, and the second single stage transmission 262 of the third transmission mechanism are received in the receiving space 1433, thus achieving a compact size and facilitating maintenance. In addition, the first, second and third transmission mechanisms can employ standard gears, thus reducing costs.
It should also be understood that the industrial robot 100 is not limited to a six-axis industrial robot, and can alternatively be industrial robots with fewer axes. For instance, the industrial robot 100 may have only three axes includes the first arm 15, the second arm 16 and the third arm 17, with the joint 14 functioning as a fixed base fixed to the ground or support.
It is believed that the present embodiments and their advantages will be understood from the foregoing description, and it will be apparent that various changes may be made thereto without departing from the spirit and scope of the disclosure or sacrificing all of its material advantages.
| Number | Date | Country | Kind |
|---|---|---|---|
| 200910310667.0 | Nov 2009 | CN | national |
This application is related to a co-pending U.S. patent application Ser. No. 12/632,955, filed on Dec. 8, 2009, and entitled “ROBOT ARM ASSEMBLY AND INDUSTRIAL ROBOT USING THE SAME”. The inventor of the co-pending application is Bo Long. The co-pending application has the same assignee as the present application. The Specification and Drawings of the co-pending application are incorporated herein by reference.
