Robot arm

Abstract

An arm body (10) for a robotic arm, the arm body comprising: a first tubular body (11) made of a plastic material and comprising a first tubular portion (12) comprising a first axial opening (13) communicating with an inner chamber of the tubular body, and a second tubular portion (14) comprising a second axial opening (14) communicating with an outer chamber of the tubular body; a second tubular portion comprising a second axial opening (15) communicating with the inner chamber, the first tubular body being substantially closed except for the first axial opening (13) and the second axial opening (15); a first connection portion (16) provided at the first tubular portion (12) and comprising a first mounting surface (162) configured to be connected to a first component constituting a robot; and a second connection portion (18) provided at the second tubular portion (14) and including a second mounting surface (182) configured to be connected to a second component constituting the robot. A robotic arm and an industrial robot are also provided.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure generally relate to an industrial robot, and more particularly to a robot arm made of a plastic material. BACKGROUND

[0002] Industrial robots are widely used in various industrial fields. An industrial robot typically includes a robot arm formed of a plurality of axial joints each including a housing and an actuator arranged in the housing, and a plurality of structural arms connecting adjacent joints. An end effector can be fixed to an end flange of the robot arm and designed to perform various tasks. The housings of the joints and the structural arms are load-bearing members and are designed to have sufficient strength to withstand loads. Typically, these structural members are made of lightweight metals such as aluminum alloys to ensure sufficient structural strength.

[0003] There is an increasing trend to use plastic materials instead of metals to construct these structural members. This can bring many advantages. Since the load-bearing structural members of the robot arm are made of plastic materials, they can be manufactured, for example, via injection molding, which significantly reduces the manufacturing cost of the industrial robot, eliminates the need for painting of its outer surface, while ensuring its lightweight. SUMMARY

[0004] Example embodiments of the present disclosure provide an arm body mainly made of a plastic material, a robot arm, and an industrial robot, which have improved structural strength.

[0005] In a first aspect of the present disclosure, an arm body for a robot arm is provided. The arm body includes a first tubular body made of a plastic material and including a first tubular portion including a first axial opening communicating with an inner chamber of the tubular body and a second tubular portion including a second axial opening communicating with the inner chamber, the first tubular body being substantially closed except for the first and second axial openings; a first connecting portion provided at the first tubular portion and including a first mounting surface configured to be connected to a first component constituting the robot; and a second connecting portion provided at the second tubular portion and including a second mounting surface configured to be connected to a second component constituting the robot. With this arrangement, for a plastic arm body, the structural strength of the arm body is greatly improved and the sealing performance of the arm body is improved since no working opening is provided in the arm body.

[0006] In some embodiments, at least one of the first and second connecting portions can be made of metal; and the respective mounting surface of the at least one connecting portion extends in a longitudinal direction along which the respective axial opening extends. With this arrangement, the arm body can be connected to other components constituting the robot at a radially outer side of the tubular body.

[0007] In some embodiments, the at least one connecting portion can be an annular member; and the at least one connecting portion can include a plurality of first mounting holes distributed circumferentially along the respective mounting surface, the first mounting holes extending in a thickness direction of the at least one connecting portion perpendicular to the longitudinal direction and configured to receive a threaded fastener. With this arrangement, the arm body can be connected to other components constituting the robot via the mounting holes.

[0008] In some embodiments, the at least one connecting portion can be integrally formed with the first tubular body by insert molding or adhesive.

[0009] In some embodiments, at least one of the first and second connecting portions can include an annular flange portion protruding from an inner surface of the respective tubular portion to partially obstruct the respective axial opening or a plurality of connecting posts arranged around the respective axial opening and extending in an axial direction along which the respective axial opening extends, an axial end surface of the annular flange portion or an axial plane defined by axial end surfaces of the plurality of connecting posts forms the respective mounting surface, and the annular flange portion or the plurality of connecting posts are integrally formed with the first tubular body by injection molding. With this arrangement, the arm body can be connected to other components constituting the robot via the annular flange portion.

[0010] In some embodiments, the annular flange portion or the plurality of connecting posts can be made of metal and can include second mounting holes for threaded connection; and the second mounting holes are configured to receive a threaded fastener from a side of the axial opening opposite to the inner chamber. With this arrangement, the arm body can be connected to other components constituting the robot at the annular flange portion via the mounting holes.

[0011] In some embodiments, the annular flange portion or the plurality of connecting posts can be made of plastic material; the second mounting holes can be provided in the annular flange portion or the connecting posts, a metal insert can be provided in the second mounting holes; and the metal insert can be configured to receive a threaded fastener from a side of the axial opening opposite to the inner chamber.

[0012] In some embodiments, the annular flange portion or the plurality of connecting posts can be made of a plastic material; a metal plate can be disposed within the annular flange portion or the plurality of connecting posts; and the metal plate can include a second mounting hole for threaded connection, and the second mounting hole is configured to receive a threaded fastener from a side of the axial opening opposite the inner chamber.

[0013] In some embodiments, the annular flange portion or the plurality of connecting posts can be disposed within the inner chamber at a distance from the distal end of the respective tubular portion.

[0014] In some embodiments, the annular flange portion or the plurality of connecting posts can be disposed at the distal end of the respective tubular portion.

[0015] In a second aspect of the present disclosure, a robotic arm is provided. The robotic arm includes an arm body according to the first aspect of the present disclosure; and a first actuator including a fixed portion and a movable portion, the fixed portion being received within an inner chamber of a first tubular body of the arm body, and the fixed portion being fixed to the arm body via one of a first connecting portion and a second connecting portion of the arm body.

[0016] In some embodiments, the robotic arm can further include: a second arm body including a second tubular body made of a plastic material and a third axial opening and a fourth axial opening at opposite ends of the second tubular body, the second tubular body being substantially closed except for the third axial opening and the fourth axial opening; a third connecting portion disposed at the third axial opening and including a third mounting surface; and a fourth connecting portion disposed at the fourth axial opening and including a fourth mounting surface; and wherein the second tubular body is fixed to the first tubular body via engagement of one of the third mounting surface and the fourth mounting surface with one of the first mounting surface and the second mounting surface.

[0017] In some embodiments, the first tubular body can be bent in an L-shape, and / or the second tubular body can be in a straight arm shape.

[0018] In some embodiments, the robot arm can further comprise a third arm body comprising a third tubular body made of a plastic material and a fifth axial opening and a sixth axial opening at opposite ends of the third tubular body, a fifth connecting portion provided at the fifth axial opening and comprising a fifth mounting surface, and a sixth connecting portion provided at the sixth axial opening and comprising a sixth mounting surface, and wherein at least a portion of the movable portion of the first actuator comprises a plurality of third mounting holes and extends beyond the tip of the first tubular body, and the third arm body is fixed to the first arm body via engagement of at least a portion of the movable portion with one of the fifth mounting surface and the sixth mounting surface.

[0019] In some embodiments, the robot arm can further comprise a second actuator comprising a fixed portion and a movable portion, wherein the fixed portion of the second actuator is received within the inner cavity of the third tubular body and comprises a plurality of fourth mounting holes, and the second actuator is fixed to the third arm body via engagement of the fixed portion with the other of the fifth mounting surface and the sixth mounting surface.

[0020] In a third aspect of the present disclosure, an industrial robot is provided. The industrial robot comprises a base and a robot arm comprising an arm body according to the first aspect of the present disclosure.

[0021] It is to be understood that the summary is not intended to identify key or essential features of embodiments of the present disclosure or limit the scope of the present disclosure. Other features, details and advantages of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0022] The above and other objects, features and advantages of the example embodiments disclosed herein will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which: Figure 1 is a general view of an industrial robot according to one example embodiment of the present disclosure; Figure 2 is a perspective view of a robot arm comprising one arm body according to a first example embodiment of the present disclosure; Figure 3 is a cross-sectional view of Figure 2 showing structural details of the mounting interface; Figure 4 is a cross-sectional view of Figure 2 with an actuator provided within the arm body of the robot arm; Figure 5 is a perspective view of a robot arm according to a second example embodiment of the present disclosure, similar to Figure 4A cross-sectional view of a robot arm including an arm body, wherein an actuator is disposed within the housing of the robot arm; Figure 6 This is a perspective view of a robotic arm including an arm body according to a third exemplary embodiment of the present disclosure; Figure 7 yes Figure 6 A cross-sectional view; Figure 8 This is a perspective view of a robotic arm including two arm bodies according to an exemplary embodiment of the present disclosure; Figure 9 yes Figure 8 A cross-sectional view; Figure 10 This is a perspective view of a robotic arm including an arm body according to a fourth exemplary embodiment of the present disclosure; Figure 11 yes Figure 10 A cross-sectional view; Figure 12 This is a plan view of a robotic arm including three arm bodies according to an exemplary embodiment of the present disclosure; Figure 13 yes Figure 12 A cross-sectional view of the arm body, wherein the first connecting portion and the second connecting portion have different forms; and Figure 14 yes Figure 12 In the cross-sectional view, the first connecting part and the second connecting part of the arm body have the same form.

[0023] In all the accompanying drawings, the same or similar reference numerals are used to indicate the same or similar elements. Detailed Implementation

[0024] The principles of this disclosure will now be described with reference to several exemplary embodiments illustrated in the accompanying drawings. While exemplary embodiments of this disclosure are shown in the drawings, it should be understood that the embodiments are described only to facilitate a better understanding and implementation of this disclosure by those skilled in the art, and not to limit the scope of this disclosure in any way.

[0025] The terms "comprise" or "include" and variations thereof shall be construed as open terms, meaning "including, but not limited to." The term "or" shall be construed as "and / or" unless context clearly indicates otherwise. The term "based on" shall be construed as "based at least in part on." The term "operable to" means functionality that can be achieved through operation by a user or external mechanism. The terms "one embodiment" and "an embodiment" shall be construed as "at least one embodiment." The term "another embodiment" shall be construed as "at least one additional embodiment." The terms "first," "second," etc. can refer to different or the same objects. Other explicit and implicit definitions can be included below. The definition of a term is consistent throughout the specification unless the context clearly indicates otherwise.

[0026] Figure 1 is a general view of an industrial robot 100 according to one example embodiment of the present disclosure; as Figure 1 shown, the industrial robot 100 comprises a base 50, a plurality of joints (in the shown example, the housings of these joints are shown and are labeled 10a, 10b, 10c, 10d, 103e, 10f), and a plurality of connecting arms 20 (labeled 20a, 20b in the shown example) connecting two adjacent joints. Each joint can comprise a housing or arm body, and an actuator can be provided therein. The actuator can comprise, for example, a motor, a reduction gear, sensors, etc. as is well known in the art. A controller can be provided in the base 50. The actuator within the housing can be controlled based on instructions of the controller to control the pose of the robot arm and / or the movement path of an end effector provided at the distal end of the robot arm.

[0027] The housings of the joints and the connecting arms 20 are load bearing members and are designed to have sufficient strength. As mentioned above, it is a technical trend to manufacture the housings and the connecting arms using plastic material, since plastic members can be manufactured by injection molding, which means that the manufacturing cost is lower and many complex steps needed for machining conventional metal members can be saved. However, there are many challenges when using plastic material to manufacture the housings and the connecting arms.

[0028] One challenge is to provide one or more working openings at the outer surface of the conventional housing of the joint. Through the working openings, the engineer can access the inner chamber of the housing to assemble the actuator within the hollow chamber of the housing and also to perform maintenance work in case of malfunction of the components within the housing. However, the presence of these working openings is undesirable. These working openings reduce the structural strength of the plastic robot arm, which is crucial for the operation of the robot arm. Further, in many critical applications, such as the food industry, the pharmaceutical industry, etc., the presence of the working openings puts high requirements on the sealing performance at the working openings to meet the hygiene requirements. Moreover, these working openings are usually closed by a cover, and the provision of the cover also increases the manufacturing cost of the robot arm. According to the present disclosure, a novel robot arm is provided, which makes it possible to assemble the components of the actuator and the connecting arm without working openings.

[0029] Figures 2 to 4 A robot arm comprising one arm body according to a first example embodiment of the present disclosure is shown. As Figures 2 to 4 shown, the robot arm body 10 comprises a tubular body 11 made of a plastic material. The arm body 10 is in the shape of a tube, defining an inner chamber. Components of an actuator 30 can be arranged within the inner chamber. The actuator 30 can comprise, inter alia, a movable part 34 and a fixed part 32. The fixed part 32 can comprise a stator of a motor. The movable part can comprise, inter alia, a rotor of the motor. The rotor is configured to rotate around an axial direction. A reduction gear can be connected to the rotor. A component to be driven, such as an adjacent connecting arm, can be further connected to the reduction gear. Thus, the adjacent connecting arm can be driven to rotate around the axial direction.

[0030] The tubular body 11 can comprise a first tubular portion 12 and a second tubular portion 14 at its opposite end portions. In the shown example, the first tubular portion 12 and the second tubular portion 14 can be bent in the shape of an L. An end wall of the first tubular portion 12 defines a first axial opening 13 in communication with the inner chamber of the tubular body. The axial direction corresponds to the direction in which the axial opening opens, and also to the axial direction around which the adjacent connecting arm rotates.

[0031] A first connecting portion 16 is provided at the first tubular portion 12. The first connecting portion 16 comprises a first mounting surface 162. The term “mounting surface” refers herein to a surface of a first member that is configured to engage with a corresponding surface of a second member via surface contact, and the first and second members can thus be secured to each other in surface contact. Via surface contact, a sufficient connection strength can be achieved. Likewise, the end wall of the second tubular portion 14 defines a second axial opening 15 that communicates with the inner chamber of the tubular body. A second connecting portion 18 is provided at the second tubular portion 14. The second connecting portion 18 comprises a second mounting surface 182. In the illustrated example, the cross-section of the tubular body is circular in shape. It is to be understood that this is merely illustrative, and the tubular body can also have any other closed shape, such as a rectangular shape.

[0032] As Figures 2 to 4 illustrated, the tubular body 11 of the arm body 10 is substantially closed except for the first and second axial openings 13, 15. No working opening is provided in the outer shell of the arm body. With this arrangement, the structural strength is increased compared to conventional outer shells that are provided with a working opening. Furthermore, the hygiene requirements of certain specific applications can also be met.

[0033] In some embodiments, the first connecting portion 16 can be made of metal. This is advantageous to ensure the connection strength of the plastic arm body 10 with another plastic arm body. When two arm bodies for forming a robot arm are made of plastic material, the plastic material is at risk of creeping under long-term stress. When the robot arm is worked over time, there is a high risk that the connection between the two plastic parts, e.g. a threaded connection, becomes loose. When metal is used at the connection location of the two plastic parts, the above-mentioned risk of creeping can be avoided, and the connection strength of the two plastic parts constituting the robot can be ensured.

[0034] The first connecting portion 16 can be a metal ring that extends in the longitudinal direction in which the opening is open. The longitudinal direction corresponds to the axial direction in which the opening extends. An outer surface or an inner surface of the metal ring can be used as the mounting surface. When the tubular body is cylindrical in shape, a radially outer circumferential surface or a radially inner circumferential surface of the metal ring is used as the mounting surface 162. There are various means for forming the first connecting portion 16. In some embodiments, the first connecting portion 16 can be integrally formed with the tubular body via insert molding. In some embodiments, the first connecting portion 16 can be mechanically secured to the tubular body, e.g. via an adhesive or the like.

[0035] The first connecting portion 16 can include a plurality of first mounting holes 164 for threaded connection. The first mounting holes 164 are distributed circumferentially along the mounting surface 162. The first mounting holes 164 extend in a thickness direction of the first connecting portion 16. The thickness direction of the first connecting portion 16 is perpendicular to the longitudinal direction. Since the first mounting holes 164 are radially arranged, an engineer can easily access the first mounting holes from a radially outer side of the arm body without needing to access an inner side of the arm body. The mounting holes 164 can be through holes or threaded holes depending on the location of the first connecting portion 16 when two plastic parts are connected.

[0036] In some embodiments, the first connecting portion 16 can be integrally formed with the first tubular body 11 by insert molding. In some embodiments, the first connecting portion 16 can be secured to the first tubular body 11 via an adhesive.

[0037] The manner of operation of the first connecting portion 16 (labeled 16a in Figure 13 is best shown in Figure 13 . As shown in Figure 13 , the first connecting portion 16a is located at one axial end of the first arm body 10a. The other arm body 20 includes a connecting portion 28. The connecting portion 28 includes a mounting surface 282. The connecting portion 28 of the arm body 20 can be in the form of a metal ring and take substantially the same configuration as the first connecting portion 16a. The mounting surface 162 of the first connecting portion 16a and the mounting surface 282 of the connecting portion 28 both extend longitudinally along the axial direction. The connecting portion 28 can include a plurality of mounting holes 284 along the thickness direction. Also, the mounting surface 162 of the first connecting portion 16a includes a plurality of mounting holes 162. When the first arm body 10a and the arm body 20 are placed in position and are to be assembled, the mounting surface 162 of the first connecting portion 16a circumferentially overlaps the mounting surface 282 of the connecting portion 28 in the axial direction. The plurality of mounting holes 284 of the connecting portion 28 are aligned with the mounting holes 162 of the first connecting portion 16a. Thus, threaded fasteners (not shown) can be inserted from the outside through the mounting holes 162 and threadably engage the mounting holes 284. In this way, the first arm body 10a can be secured to the third arm body 20 via threaded connection. Moreover, since an engineer can manipulate the threaded fasteners from the outside of the tubular body without needing to access the inside of the tubular body, it is not technically necessary to provide an additional working opening.

[0038] In some embodiments, as shown in Figures 2 to 4 , the second connecting portion 18 can include an annular flange portion that protrudes from an inner surface of the second tubular portion to partially block the axial opening 15. By providing the annular flange portion 18, as shown in Figure 4 , the securing portion 32 of the actuator 30 can be secured to the arm body 10.

[0039] In some embodiments, the annular flange portion 18 can be made of metal. This is advantageous to ensure the connection strength between the plastic arm body 10 and the fixed portion 32 of the actuator 30. The fixed portion 32 can also be made of metal. When the annular flange portion 18 is made of metal, the connection strength between the plastic arm body 10 and the fixed portion 32 of the actuator 30 can be ensured. The axial end surface of the annular flange portion 18 provides a mounting surface 182. As Figures 2 to 4 shown, the outer axial end surface of the annular flange portion 18 opposite the inner cavity serves as a mounting surface 184.

[0040] The annular flange portion 18 can comprise a plurality of second mounting holes 184 for threaded connection. The second mounting holes 184 are distributed circumferentially along the mounting surface and are configured to receive a threaded fastener from the side of the axial opening opposite the inner cavity.

[0041] As Figure 4 shown, a mounting hole 325 (in the example shown, a through hole) can be provided in the fixed portion 32. A mounting hole 184 (in the example shown, a threaded hole) can be provided in the annular flange portion 18. A threaded fastener 40 can be inserted into the mounting hole 184 from the outside of the arm body 10 and also engages the mounting hole 184 in the annular flange portion 18. In this way, the fixed portion 32 of the actuator 30 can be fixed to the plastic arm body 10 via threaded connection. Since the engineer can manipulate the threaded fastener from the outside of the tubular body without having to access the inside of the tubular body, it is not technically necessary to provide a further working opening. There are various means for forming the annular flange portion 18. In some embodiments, the first annular flange portion 18 can be formed integrally with the tubular body 11 via insert molding. In some embodiments, the annular flange portion 18 can be mechanically fixed to the tubular body, for example via an adhesive or the like.

[0042] In some embodiments, the annular flange portion 18 can be made of a combination of a plastic material and a metal member, for example a plate-like member. The plastic material can serve as a base and the metal member can be embedded in the plastic base. The metal member can be used to form a mounting interface. The metal member can have the form of a metal plate and a plurality of mounting holes. The mounting holes can be threaded holes and a threaded fastener can engage the threaded holes to fix the fixed portion of the actuator to the annular flange portion 18. In relation to the annular flange portion 18 being made of a combination of a plastic material and a metal member, in one embodiment, the annular flange portion 18 can be formed integrally with the tubular body 11 by insert molding. In another embodiment, the base of the annular flange portion 18 can first be formed integrally with the tubular body 11 by injection molding and then the metal member is mechanically fixed to the base, for example via an adhesive or the like.

[0043] In some embodiments, the annular flange portion 18 can be made of a plastic material. As Figure 3 shown, a plurality of second mounting holes 184 can be provided in the annular flange portion 18. Each of the plurality of second mounting holes 184 can have a metal insert 186 provided therein. A mounting hole 184 for threaded connection is provided in the metal insert 186. A threaded fastener can engage the threaded hole in the metal insert 186. With the metal insert 186 provided, the threaded fastener 40 is separated from the plastic material and does not directly contact the plastic material. Thus, the threaded fastener 40 is not subjected to compression caused by the creep of the plastic material.

[0044] The annular flange portion 18 includes an inner axial end surface within the inner cavity of the tubular body and an outer axial end surface opposite the inner cavity. Either the inner axial end surface or the outer axial end surface can be used as a mounting surface. In some embodiments, as Figures 2 to 4 shown, as Figure 4 best shown in FIG. 6, the annular flange portion 18 is provided within the inner cavity and the outer axial end surface is used as the mounting surface 182. The corresponding mounting surface of the fixed portion 32 abuts against the outer axial end surface of the annular flange portion 18. Threaded fasteners 40, which can have a longer length, are used to connect the fixed portion 32 to the annular flange portion 18 of the arm body 10.

[0045] In the example embodiment shown, the annular flange portion 18 forms an attachment surface. In other example embodiments (not shown), instead of a flange portion, a plurality of connecting posts can be arranged around the axial opening and configured to form an attachment surface configured to be fixed to other components of the robot. The plurality of connecting posts can extend in an axial direction along which the axial opening extends and are aligned with each other at their axial ends. Thus, an axial plane defined by the axial end surfaces of the plurality of connecting posts forms a mounting surface. In some example embodiments, the plurality of connecting posts are integrally formed with the tubular body by injection molding. In some example embodiments, the plurality of connecting posts can each be made of metal and each include a mounting hole for threaded connection. The mounting hole is configured to receive a threaded fastener from a side of the axial opening opposite the inner cavity.

[0046] In some example embodiments, the plurality of connecting posts can be made of a plastic material. A mounting hole can be provided in each of the plurality of connecting posts. A metal insert is provided in the mounting hole; and the metal insert is configured to receive a threaded fastener from a side of the axial opening opposite the inner cavity.

[0047] In some example embodiments, the plurality of connecting posts are made of a plastic material; and a metal insert is disposed within the connecting posts. The metal insert includes a second mounting hole for threaded connection, and is configured to receive a threaded fastener from a side of the axial opening opposite the inner chamber.

[0048] The plurality of connecting posts can be disposed at appropriate locations of the tubular body. In some embodiments, the connecting posts can be disposed within the inner chamber at a distance from the terminal end of the respective tubular portion. In some embodiments, the plurality of connecting posts are disposed at the terminal end of the respective tubular portion.

[0049] In the example embodiment shown, as Figures 2 to 4 shown, the first connecting portion 16 and the second connecting portion 18 are different from each other. With respect to the first connecting portion 16, the longitudinal inner or outer surface of the tubular body forms its attachment surface. With respect to the second connecting portion 18, the inner or outer axial end surface of the annular flange portion forms its attachment surface. It will be appreciated that this is merely illustrative, and the first and second connecting portions can be of the same type.

[0050] Figure 5 A perspective view of a robotic arm including one arm body according to a second example embodiment of the present disclosure is shown. Figure 5 The configuration is similar to Figure 4 that of the first example embodiment. The difference is that, Figure 5 the annular flange portion 18 is disposed at the terminal end of the tubular portion 14, and the inner axial end surface of the annular flange portion serves as the mounting surface 182.

[0051] As Figure 5 shown, the inner axial end surface of the annular flange portion 18 facing the inner chamber can provide the mounting surface 182. The annular flange portion 18 can include a plurality of second mounting holes 184 for threaded connection. The second mounting holes 184 are distributed circumferentially along the mounting surface, and are configured to receive a threaded fastener 40 from a side of the axial opening opposite the inner chamber. In the example shown, the second mounting holes 184 can be through holes. In some embodiments, a metal sleeve can be disposed within the second mounting holes 184. The metal sleeve is used as a compression limiter. With the metal sleeve disposed, the threaded fastener 40 is not subjected to compression caused by creep of the plastic material.

[0052] A mounting hole 325 (threaded hole in the illustrated example) can be provided in the fixed portion 32. A threaded fastener 40 can be inserted from the outside of the arm body 10 into the second mounting hole 184 in the annular flange portion 18 and also engage the mounting hole 325 in the fixed portion 32. In this way, the fixed portion 32 of the actuator 30 can be fixed to the plastic arm body 10 via a threaded connection. Moreover, it is not technically necessary to provide a further work opening since the engineer can manipulate the threaded fastener from the outside of the tubular body without needing to access the inside of the tubular body.

[0053] Figure 6 and Figure 7 Different views of a robot arm comprising one arm body 10 according to a third example embodiment of the present disclosure are shown. Figures 6 to 7 The configuration of the arm in Figure 2 and Figure 5 is similar to the configuration of the arm in

[0054] As shown in Figure 6 and Figure 7 , the first connection portion 16 is a metal ring extending in a longitudinal direction corresponding to the axial direction along which the opening extends. An outer surface or an inner surface of the metal ring can be used as a mounting surface 162. When the tubular body is cylindrical in shape, a radially outer circumferential surface or a radially inner circumferential surface of the metal ring is used as the mounting surface. In some embodiments, the first connection portion 16 can be integrally formed with the tubular body via insert molding. In some embodiments, the first connection portion 16 can be mechanically fixed to the tubular body, e.g. via an adhesive or the like. The first connection portion 16 can comprise one or more mounting holes 164 for threaded connection. The mounting holes 164 are distributed circumferentially in the mounting surface 162.

[0055] Likewise, the second connection portion 18 can be a metal ring extending in a longitudinal direction corresponding to the axial direction along which the opening extends. An outer surface or an inner surface of the metal ring can be used as a mounting surface 184. When the tubular body is cylindrical in shape, a radially outer circumferential surface or a radially inner circumferential surface of the metal ring is used as the mounting surface 184. The second connection portion 18 can comprise one or more mounting holes 184 for threaded connection. The mounting holes 184 are distributed circumferentially in the mounting surface. Since the first mounting holes 164 and the mounting holes 184 are radially arranged, the engineer can access the mounting holes from the radially outer side of the arm body without needing to access the inside of the arm body.

[0056] Figure 6 and Figure 7 The way in which the first and second connection portions 16, 18 of the arm body 10 in connect to the adjacent members is similar to the way in which the first and second connection portions 16, 18 of the arm body 10 inFigure 14 The arm body is best shown in Figure 14 In

[0057] As Figure 14 shown, the first connecting portion 16a is located at one axial end of the first arm body 10a, and the second connecting portion 18a is located at the other axial end of the first arm body 10a. The third arm body 20 includes a connecting portion 28. The connecting portion 28 of the third arm body 20 is in the form of a metal ring, and takes substantially the same configuration as the first connecting portion 16a. The first connecting portion 16a can include a plurality of mounting holes 164 (see Figure 6 and Figure 7 ). The connecting portion 28 can include a plurality of mounting holes 284. When the first arm body 10a and the third arm body 20 are placed in position and are to be assembled, the mounting surface 162a of the first connecting portion 16a overlaps the mounting surface 282 of the connecting portion 28 in the axial direction. The plurality of mounting holes 284 of the connecting portion 28 are aligned with the mounting holes 164 of the first connecting portion 16a. Threaded fasteners 40 can be inserted through the mounting holes 162 from the radially outer side of the tubular body and threadably engage the mounting holes 284. In this way, the first arm body 10a can be secured to the third arm body 20 via a threaded connection.

[0058] Figure 14 It is also shown how the first arm body 10a is connected to the fixed portion 32a of the first actuator 30 at the second connecting portion 18a. As Figure 14 shown, the fixed portion 32a can include a plurality of mounting holes 325a located at its radially outer side. The second connecting portion 18a can include a plurality of mounting holes 184. When the fixed portion 32a of the first actuator 30 is placed in position within the inner chamber, the mounting surface 182a of the second connecting portion 18a overlaps the corresponding mounting surface of the fixed portion 32a in the circumferential direction. The plurality of mounting holes 325a of the fixed portion 32a are aligned with the mounting holes 184 of the second connecting portion 18a. Threaded fasteners 40 can be inserted through the mounting holes 182 from the radially outer side of the tubular body and threadably engage the fixed portion 32a. In this way, the first arm body 10a can be secured to the fixed portion 32a of the actuator via a threaded connection.

[0059] Figure 8 and Figure 9 different views of a robotic arm 10 including two arm bodies 10a, 10b according to one example embodiment of the present disclosure are shown. The arm formed by the two arm bodies 10a, 10b is substantially closed without openings. As Figure 8 and Figure 9As shown, the two arm bodies 10a, 10b are substantially identical, and each of the two arm bodies 10a, 10b is substantially closed except for its axial opening. The configuration of the arm bodies 10a, 10b is substantially identical to the configuration of the arm bodies shown in Figures 2 to 4 Figure 8 and Figure 9 The reference numerals in Figures 2 to 4 are substantially identical to those in

[0060] As shown in Figure 8 and Figure 9 an actuator 30a, 30b is provided within each arm body 10a, 10b. First, a fixed portion 32a of the first actuator 30a can be fixed to the first tubular body 11a at the second connection portion 18a via the second opening 15a. Likewise, a fixed portion 32b of the second actuator 30b can be fixed to the second tubular body 11b at the second connection portion 18b via the second opening 15b. During this assembly process, a threaded fastener can be inserted from the respective axial opening side through a mounting hole (not shown) provided in the fixed portion 32a, 32b and into a mounting hole (not shown) provided in the second connection portion 18a, 18b. Thus, the engineer does not have to access the inside of the chamber.

[0061] Then, the first opening 13b side of the second tubular body 11b of the second arm body 10b can be aligned with the second opening 15a side of the first tubular body 11a of the first arm body 10a. As shown in Figure 9 an outer side surface of the movable portion 34a of the first actuator 30a can be used to position the second tubular body 11b of the second arm body 10b. When the second arm body 10b and the first arm body 10a are in place, the second tubular body 11b can be fixed to the movable portion 34a of the first actuator 30a. Thus, the two arm bodies 10a, 10b are connected together.

[0062] As shown in Figure 8 and Figure 9 the first connection portion 16b of the second tubular body 11b is radially exposed to the engineer. Thus, a threaded fastener (not shown) can be inserted from the radial outside of the arm body through a mounting hole 164b provided in the first connection portion 16b of the second tubular body 11b and into a mounting hole (not shown) provided in the movable portion 34a of the first actuator 30a. Again, the engineer does not have to access the inside of the chamber to achieve the connection between the actuator and the second tubular body 11b.

[0063] Figure 10 and Figure 11 ​A robot arm comprising one arm body according to a fourth example embodiment of the present disclosure is shown. The arm body 20 can be used as the connecting arm shown in Figure 1 . As shown in Figure 10 and Figure 11 , the arm body 20 can comprise an arm body 21 in the form of a tubular body which is substantially closed except for a first axial opening 23 and a second axial opening 25. The tubular body can be straight and comprise a first tubular portion 22 and a second tubular portion 24 at opposite ends thereof. An end wall of the first tubular portion 22 defines the first axial opening 23. A first connecting portion 26 is provided at the first tubular portion 22. The first connecting portion 16 can be a metal ring. The first connecting portion 26 comprises a mounting surface 262. The first connecting portion 26 can comprise a plurality of first mounting holes 264 for threaded connection. The first mounting holes 264 are distributed circumferentially in the mounting surface.

[0064] Likewise, an end wall of the second tubular portion 24 defines the second axial opening 25. A second connecting portion 28 is provided at the second tubular portion 14. The second connecting portion 28 comprises a mounting surface 282. The first connecting portion 26 can be a metal ring. In one example, as shown in Figures 2 to 4 , the fixed portion 34 of the actuator 30 can be fixed to the arm body 10 at the second tubular portion 14 via the first mounting surface 182. The second connecting portion 28 comprises a mounting surface 282. The second connecting portion 28 can comprise a plurality of second mounting holes 284 for threaded connection. The mounting holes 284 are distributed circumferentially in the mounting surface.

[0065] Figures 12 to 14 Different views of a robot arm comprising three arm bodies according to one example embodiment of the present disclosure are shown. As shown in Figure 12 , the robot arm comprising three arm bodies is substantially closed without a working opening provided. In the configuration shown in Figure 13 , the arm bodies 10a, 10b are substantially identical to the arm body 10 shown in Figures 2 to 4 , while in the configuration shown in Figure 14 , the arm bodies 10a, 10b are substantially identical to the arm body 10 shown in Figure 6 and Figure 7 .

[0066] As shown in Figure 13 and Figure 14As shown in the figure, after the two bodies 10a, 10b are connected together, the third body 20 can be secured to the assembled bodies of the two bodies 10a, 10b. In the example shown, some locating features (e.g. steps or flanges) can be provided at the connection portions 16a and 28. These locating features can facilitate the connection between the arm bodies. When the assembled bodies and the third body 20 are placed in position, the connection portion 28 of the third arm body 20 can be received in the axial opening 13a of the first arm body 10a. Thus, the mounting hole provided in the first connection portion 16a of the first arm body 10a is aligned with the mounting hole 284 provided in the connection portion 28 of the third arm body 20. The first connection portion 16a of the second tubular body 11a is radially exposed to the engineer. Thus, a threaded fastener can be inserted from the radial outside of the arm bodies through the mounting hole provided in the first connection portion 16a of the tubular body 11a and into the mounting hole 284 provided in the connection portion 28 of the third arm body 20. In this way, the third arm body 20 can be secured to the assembled bodies of the two bodies 10a, 10b. Likewise, the first arm body 10a can be secured to the third arm body 20 and the engineer does not have to access the inside of the chamber.

[0067] Many modifications and other embodiments of the present disclosures set forth herein will be apparent to one of ordinary skill in the art from the teachings herein. Therefore, it is to be understood that the embodiments of the present disclosure are not limited to the specific embodiments disclosed and that modifications and other embodiments are intended to be within the scope of the present disclosure. Further, while example embodiments have been described in the context of some illustrative combinations of parts and / or functions, it should be recognized that different combinations of parts and / or functions can be provided in alternative embodiments without departing from the scope of the present disclosure. In this regard, for example, it is intended to enable other combinations of parts and / or functions in the alternative embodiments to be within the scope of the present disclosure. While specific terminology has been employed herein, such should not be taken as limiting the scope of the present disclosure.

Claims

1. An arm body (10) for a robot arm, the arm body comprising: A first tubular body (11) is made of plastic material and includes a first tubular portion (12) and a second tubular portion (14). The first tubular portion includes a first axial opening (13) communicating with an inner cavity of the tubular body, and the second tubular portion includes a second axial opening (15) communicating with the inner cavity. The first tubular body is substantially closed except for the first axial opening (13) and the second axial opening (15). A first connecting portion (16) is disposed at the first tubular portion (12) and includes a first mounting surface (162) configured to connect to a first component constituting the robot; as well as A second connecting portion (18) is disposed at the second tubular portion (14) and includes a second mounting surface (182) configured to connect to a second component constituting the robot.

2. The arm body according to claim 1, wherein, At least one of the first connecting portion (16) and the second connecting portion (18) is made of metal; and The respective mounting surfaces of the at least one connecting portion (16, 18) extend in the longitudinal direction along which the respective axial opening extends.

3. The arm body according to claim 2, wherein, The at least one connecting portion is a ring-shaped component; and The at least one connecting portion includes a plurality of first mounting holes (164) circumferentially distributed along the respective mounting surface, the first mounting holes (164) extending in a thickness direction perpendicular to the longitudinal direction of the at least one connecting portion (16, 18) and configured to receive threaded fasteners.

4. The arm body according to claim 2 or 3, wherein, The at least one connecting portion is integrally formed with the first tubular body (11) by insert molding or adhesive.

5. The arm body according to any one of the preceding claims, wherein, At least one of the first connecting portion (16) and the second connecting portion (18) includes: an annular flange portion (18) or a plurality of connecting posts, the annular flange portion protruding from the inner surface of the corresponding tubular portion to partially block the corresponding axial opening, the plurality of connecting posts being arranged around the corresponding axial opening and extending in the axial direction along which the corresponding axial opening extends, the axial end surface of the annular flange portion or an axial plane defined by the axial end surfaces of the plurality of connecting posts forming a corresponding mounting surface, and The annular flange portion (18) or the plurality of connecting posts are integrally formed with the first tubular body (11) by injection molding.

6. The arm body according to claim 5, wherein, The annular flange portion (18) or the plurality of connecting posts is made of metal and includes a second mounting hole (184) for threaded connection; and The second mounting hole (184) is configured to receive a threaded fastener from the side opposite to the inner cavity, which opens in the axial direction.

7. The arm body according to claim 6, wherein, The annular flange portion (18) or the plurality of connecting posts are made of plastic material; A second mounting hole (184) is provided in the annular flange portion (18) or the plurality of connecting posts, and a metal insert (186) is provided in the second mounting hole (184); and The metal insert is configured to receive a threaded fastener from the side opposite to the inner cavity, which opens axially.

8. The arm body according to claim 6, wherein, The annular flange portion (18) or the plurality of connecting posts are made of plastic material; A metal insert is arranged within the annular flange portion (18) or the connecting post; and The metal insert includes a second mounting hole for threaded connection, and the second mounting hole is configured to receive a threaded fastener from the side opposite to the inner cavity, which opens axially.

9. The arm body according to any one of claims 5 to 8, wherein, The annular flange portion (18) or the plurality of connecting posts are disposed in the inner cavity at a certain distance from the end of the corresponding tubular portion.

10. The arm body according to any one of claims 5 to 8, wherein, The annular flange portion (18) or the plurality of connecting posts are disposed at the end of the corresponding tubular portion.

11. A robotic arm, comprising: Arm body (10) according to any one of claims 1 to 10. as well as The first actuator (30) includes a fixed portion (32) and a movable portion (34), the fixed portion (32) being received in the inner cavity of the first tubular body (11) of the arm body, and the fixed portion being fixed to the arm body (10) via one of the first connecting portion (16) and the second connecting portion (18) of the arm body.

12. The robotic arm according to claim 11, further comprising: The second arm body (20) includes a second tubular body (21) made of plastic material and a third axial opening (23) and a fourth axial opening (25) located at opposite ends of the second tubular body (21), the second tubular body being substantially closed except for the third axial opening (23) and the fourth axial opening (25). The third connecting portion (26) is disposed at the third axial opening (23) and includes a third mounting surface (262). as well as The fourth connecting portion (28) is disposed at the fourth axial opening (25) and includes a fourth mounting surface (282); and The second tubular body (21) is fixed to the first tubular body (11) by engaging one of the third mounting surface (262) and the fourth mounting surface (282) with one of the first mounting surface (162) and the second mounting surface (182).

13. The robotic arm according to claim 12, wherein, The first tubular body (11) is bent in an L-shape, and / or the second tubular body (21) is in a straight arm shape.

14. The robotic arm of claim 11, further comprising: The third arm body (10b) includes a third tubular body (11b) made of plastic material and a fifth axial opening (13b) and a sixth axial opening (15b) located at opposite ends of the third tubular body (11b). The fifth connecting portion (16b) is disposed at the fifth axial opening (13b) and includes a fifth mounting surface (162b). as well as The sixth connecting portion (18b) is disposed at the sixth axial opening (15b) and includes a sixth mounting surface (182b); and At least a portion of the movable portion (34a) of the first actuator (30a) includes a plurality of third mounting holes and extends beyond the end of the first tubular body (11a), and the third arm body (10b) is fixed to the first arm body (10) via at least a portion of the movable portion (34a) engaging with one of the fifth mounting surface (162b) and the sixth mounting surface (182b).

15. The robotic arm according to claim 13, further comprising: The second actuator (30b) includes a fixed portion (32b) and a movable portion (34b). The fixing portion (32b) of the second actuator is received in the inner cavity of the third tubular body (11b) and includes a plurality of fourth mounting holes, and the second actuator (30b) is fixed to the third arm body (10b) via the engagement of the fixing portion (32b) with another mounting surface of the fifth mounting surface (162b) and the sixth mounting surface (182b).

16. An industrial robot, comprising: Base; as well as A robotic arm comprising an arm body according to any one of claims 1 to 10.

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