Robot Actuator Lateral Mounting for Compact Industrial Arm Design
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Solution Overview
Problem
Existing industrial robots are oversized due to actuators protruding rearwardly, increasing space requirements for installation and interfering with feeders, which complicates arc welding operations.
Innovation Solution
The actuator motor is repositioned with its rotation axis perpendicular to the wrist's rotation axis and attached to the upper arm in a direction parallel to the arm's longitudinal axis, reducing rearward protrusion and allowing the feeder to be positioned closer, thus minimizing the robot's size and space requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the actuator is mounted on the upper arm so as to protrude rearwardly, then the actuator can be securely attached and function properly, but the entire robot size increases and more space is required for installation
Solution Approach 1:
The actuator is repositioned from a rearward protruding configuration to a lateral mounting configuration where it extends from the side of the upper arm. This dimensional change in mounting orientation allows the actuator to be securely attached without increasing the robot's rearward footprint, thereby reducing the overall robot size and installation space requirements while maintaining attachment stability.
Solution Approach 2:
Instead of mounting the actuator to protrude rearwardly from the upper arm, the invention inverts the mounting approach by attaching it laterally so that it extends perpendicular to the upper arm's longitudinal axis. This inverted mounting configuration eliminates the need for rearward offset, reducing robot size while preserving secure attachment and proper functionality.
2Ease of operation
If the actuator protrudes rearwardly from the upper arm, then the actuator can be properly positioned for wrist rotation, but the feeder must be offset rearwardly which increases robot size and complicates arc welding operations
Solution Approach 1:
The actuator is mounted laterally on the upper arm rather than protruding rearwardly, changing the spatial dimension of actuator placement. This allows the feeder to be positioned in a more forward and accessible location, eliminating the need for rearward offset and simplifying arc welding operations while maintaining proper wrist rotation functionality.
Solution Approach 2:
The invention inverts the conventional actuator mounting arrangement by attaching it to the side of the upper arm instead of the rear. This inverted configuration allows the feeder to be positioned closer to the front of the robot, reducing device complexity and improving ease of operation for arc welding tasks.
Data Source
Figure 1
Figure 2
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AI summary
A robot (1) according to an embodiment includes a lower arm (12), an upper arm (13), a wrist (14), and an actuator (Md) that rotationally drives the wrist (14). The upper arm (13) is connected to the lower arm (12) rotatably about a first rotation axis (Jc). The wrist (14) is connected to the upper arm rotatably about a second rotation axis (Jd) perpendicular to the first rotation axis (Jc). The actuator (Md) is disposed so that a rotation axis (Md1) of the actuator (Md) is perpendicular to the second rotation axis (Jd) and is attached to the upper arm (13) so as to extend in a direction of the first rotation axis (Jc).