Industrial Robot Arm Motor Mounting for Reduced Thickness
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Solution Overview
Problem
Conventional industrial robots are oversized and have a high minimum height, making them less efficient for tasks requiring a lower pass line and reduced size.
Innovation Solution
The design incorporates a main body part with a first arm, a second arm, and a tip end operation part connected by speed reducers and drive motors, where the second drive motor is attached to protrude under the second arm, reducing the thickness and size of the robot, and utilizing hollow shafts to pass wiring internally, allowing for reduced dimensions and increased rigidity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the arm part motor is incorporated into the arm side link part with the upper and lower direction as a direction of its turning shaft, then the motor can be integrated into the existing structure, but the thickness of the arm side link part is increased and the height of the hand part is increased
Solution Approach 1:
The patent changes the mounting orientation of the arm part motor from the conventional upper-lower direction to the left-right direction, allowing the motor to protrude laterally from the arm side link part. This dimensional reorientation reduces the thickness of the arm side link part in the upper-lower direction while maintaining motor integration.
2Ease of operation
If the ratio of the diameter of the base side pulley to the diameter of the arm part side pulley is set to be 2:1, then the link mechanism can achieve linear operation at the tip end, but the sizes of the base side pulley, arm part side pulley and belt are increased
Solution Approach 1:
The patent modifies the diameter ratio of the base side pulley to the arm part side pulley from the conventional 2:1 to a different ratio, enabling the tip end of the arm side link part to perform linear operation while reducing the sizes of the pulleys and belt, thereby decreasing the overall volume of the base side link part.
3Manufacturing precision
If reduction gears are assembled in each joint part to prevent lateral displacement of work piece, then positioning accuracy is improved, but the device complexity and size are increased
Solution Approach 1:
The patent combines the functions of multiple reduction gears into a single reduction gear assembly located at the base joint part. This merged design maintains the capability to prevent lateral displacement of the work piece and ensure accurate positioning, while reducing the overall number of components and simplifying the device structure.
4Manufacturing precision
If synchronous pulleys and toothed belts are used to connect input shafts of reduction gears, then lateral displacement of work piece is restricted, but the device complexity and space requirements are increased
Solution Approach 1:
The patent extracts the synchronous pulley and toothed belt connecting mechanism from the joint parts and relocates it to the base joint part, where it connects the input shaft of the reduction gear with the drive shaft of the arm part motor. This consolidation reduces the space occupied by connecting mechanisms throughout the robot structure while maintaining positioning accuracy.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This configuration allows for a smaller, more agile industrial robot with a lowered pass line, preventing interference and enabling efficient operation in confined spaces while maintaining structural integrity.
Implementation Method 1
a first drive motor which is connected with the first input shaft, and a second drive motor which drives to turn the tip end side operation part
Implementation Method 2
a first speed reducer structuring a first joint part which connects the main body part with the first arm, a second speed reducer structuring a second joint part which connects the first arm with the second arm
Data Source
AI summary
An industrial robot (1) is provided with a main body section (3), a first arm (4), a second arm (5), a third arm (6), a first speed reducer (21) which connects the main body section (3) and the first arm (4) to each other, a second speed reducer (22) which connects the first arm (4) and the second arm (5) to each other, and a connecting mechanism (23) which connects the input shaft (25) of the first speed reducer (21) and the input shaft (32) of the second speed reducer (22) to each other, and a second drive motor (40) which drives the third arm (6) into rotation. The speed reduction ratio of the first speed reducer (21) and that of the second speed reducer (22) are set in such a way that the movement loci of a third articulation section which connects the second arm (5) to the third arm (6) to each other are rectilinear. Furthermore, the connecting mechanism (23) connects the input shaft (25) to the input shaft (32) to each other at a predetermined speed ratio. Moreover, the second drive motor (40) is mounted on the second arm (5) at a location closer to the tip of the second arm (5) than a location where a third articulation section is located, in such a way as to protrude toward the first arm (4).