Patent Application
20120034022
1. Technical Field
The present disclosure relates generally to robots and, more particularly, to a robotic arm assembly.
2. Description of Related Art
Many robotic arms include a fixed base, a frame pivotably connected about a first rotation axis, a first segment, one end of which is pivotably connected to the frame about a second rotation axis, and a second segment, one end of which is pivotably connected to the other end of the first segment about a third rotation axis. An actuator, such as a detector, a welding device, a gripper or a cutting tool, is mounted at a distal end of the second segment of the industrial robotic 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 first segment and a speed reducer coupled to the motor to transmit the movement of the motor to the second segment. Many cables and conduits are used to connect the motor to an electrical source, the detector to a processor, and the cutting tool to cutting fluids.
When various parts of the robotic arm rotate, the cables and conduit my become entangled with each other and with the moving parts.
Therefore, there is room for improvement within the art.
The components in the drawings are not necessarily drawn to scale, the emphasis instead 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
The first segment 10 is substantially a hollow cylinder, and includes a receiving portion 14 and a connecting portion 16 formed on an end of the receiving portion 14. The receiving portion 14 is configured to receive the first driving device 30, the first transmission mechanism 40, the second driving device 60, and the second transmission mechanism 70. The connecting portion 16 is connected to the second segment 20.
The second segment 20 is substantially L-shaped, and includes a fixing portion 24, an output portion 26, and an output shaft 28. The fixing portion 24 is fixed to the connecting portion 16 of the first segment 10. The fixing portion 24 extends along a direction substantially perpendicular to the first axis 12, and defines a receiving groove 242 opposite to the first segment 10. The output portion 26 extends along a direction substantially perpendicular to the second axis 22, and forms an end surface 261. The output portion 26 defines a guiding hole 262 along the second axis 22. A positioning groove 264 is defined in an inner wall 2622 of the guiding hole 262, and communicates with the guiding hole 262. The output shaft 28 is substantially cylindrical, and defines a guiding hole 282. The guiding hole 282 is aligned with the guiding hole 262 along the second axis 22, and communicates with the guiding hole 262.
The first driving device 30 is received in an end of the receiving portion 14 away from the connecting portion 16, and has a driving shaft 32. In the illustrated embodiment, the first driving device 30 is an electrical motor.
The first transmission mechanism 40 includes a first drive wheel 42, a first transmission belt 44, an first action wheel 46, a connecting member 47, and a bearing 48.
The first drive wheel 42 is fixed on the driving shaft 32. The first transmission belt 44 is sleeved on the first drive wheel 42 and the first action wheel 46. The connecting member 47 is received in an end of the receiving portion 14 adjacent to the connecting portion 16, and supported by the bearing 48 that is positioned in the receiving portion 14. The first action wheel 46 is fixed to an end of the connecting member 47 away from the connecting portion 16 via a screw 49. The first action wheel 46 defines a pivot hole 462 aligned in the first axis 12, and the connecting member 47 defines a pivot hole 472 aligned in the first axis 12. The pivot hole 462 communicates with the pivot hole 472. An end of the connecting member 47 adjacent to the connecting portion 16 is fixed to the fixing portion 24 of the second segment 20. The connecting member 47 defines a connecting groove 474 opposite to the fixing portion 24.
The second driving device 60 is received in an end of the receiving portion 14 away from the connecting portion 16, and arranged with the first driving device 30 side by side. The second driving device 60 has a rotation shaft 62. In the illustrated embodiment, the second driving device 60 is an electrical motor.
The second transmission mechanism 70 includes a second drive wheel 72, a transmission shaft 74, a second action wheel 75, a second transmission belt 76, a cross roller bearing 77, a pair of bevel gears 78, a first bearing 79, and a second bearing 81.
The second drive wheel 72 is fixedly sleeved on the rotation shaft 62. The transmission shaft 74 forms a transmission end 742 and a fixing end 744 on opposite ends. The fixing end 744 forms a shaft shoulder 746. The fixing end 744 extends through the pivot hole 472 of the connecting member 47 and the pivot hole 462 of the first action wheel 46, and the transmission end 742 protrudes from the first action wheel 46. The second action wheel 75 is fixedly sleeved on the transmission end 742. The second transmission belt 76 is sleeved on the second drive wheel 72 and the second action wheel 75. The cross roller bearing 77 is sleeved on the transmission end 742, and received in the pivot hole 462 of the first action wheel 46 and the pivot hole 472 of the connecting member 47, thereby supporting the transmission shaft 74. The fixing end 744 is received in the receiving groove 242 of the fixing portion 24.
In the illustrated embodiment, the pair of bevel gears 78 includes a first bevel gear 782 and a second bevel gear 784 meshed with each other. The first bevel gear 782 is non-rotatably sleeved on the fixing end 744 of the transmission shaft 74. An end of the first bevel gear 782 resists the shaft shoulder 746, and the other end of the first bevel gear 782 resists a restricting member 82. The restricting member 82 is fixed to the transmission shaft 74 via a screw 83. The first bevel gear 782 is received in the receiving groove 242 of the fixing portion 24, and supported by the first bearing 79 received in the receiving groove 242. The second bevel gear 784 is received in the positioning groove 264 of the output portion 26, and supported by the second bearing 81 received in the positioning groove 264. The second bevel gear 784 defines a guiding hole 7842 along the second axis 22. The output shaft 28 is fixed to the second bevel gear 784, and can be rotated together with the second bevel gear 784. The guiding holes 262, 282, and 7842 are aligned in the second axis 22.
The robotic arm assembly 100 further includes a plurality of oil seals (not shown), to prevent the bearing 48, the cross roller bearing 77, the first bearing 79, the second bearing 81 and the pair of bevel gears 78 from leaking lubricating oil, and furthermore, avoid external fluid from entering in the robotic arm assembly 100.
In use, a spraying tool (not shown) is fixed to the output shaft 28, by partially inserting it into the guiding hole 282. A plurality of pipes connected to the spraying tool extend through the guiding hole 262 and the guiding hole 7842. The first driving device 30 drives the first drive wheel 42 to rotate, and the first action wheel 46 is driven to rotate by the first drive wheel 42 via the first transmission belt 44. The connecting member 47 is driven to rotate relative to the first segment 10 together with the first action wheel 46, because the connecting member 47 is fixed on the first action wheel 46. As a result, the second segment 20 rotates relative to the first segment 10 because of the rotation of the connecting member 47.
The second driving device 60 drives the second drive wheel 72 to rotate, and the second action wheel 75 is driven to rotate by the second drive wheel 72 via the second transmission belt 76. The transmission shaft 74 is driven to rotate together with the second action wheel 75, because the transmission shaft 74 is fixed on the second action wheel 75. The first bevel gear 782 is driven to rotate about the first axis 12 by the transmission shaft 74, and then drives the second bevel gear 784 to rotate about the second axis 22. As a result, the output shaft 28 rotates about the second axis 22 together with the second bevel gear 784.
The spraying tool is fixed to the output shaft 28, and the pipes extend through the guiding hole 262 and the guiding hole 7842, and are connected to the spraying tool. Therefore, when the spraying tool rotates together with the output shaft 28, the pipes are aligned with the second axis 22, thereby avoiding being wound on the second segment 20. It should be appreciated that, the spraying tool may be replaced by a detector or a welding tool, and a plurality of data lines or electric cables can be received in the guiding holes 262, 7842.
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 |
|---|---|---|---|
| 201010246202.6 | Aug 2010 | CN | national |
