Industrial Robot Arm Motor Relocation for Narrow Space Welding
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Solution Overview
Problem
Industrial robots face challenges in performing welding in narrow spaces due to interference between the tool mounting portion and surrounding objects, leading to decreased operation efficiency and increased risk of welding failures, as well as issues with positioning accuracy and maintenance complexity.
Innovation Solution
The design incorporates a tool mounting portion with a long distance from the rotation axis, utilizing a compact structure with a tool mounting rotation arm driving motor and reduction mechanism housed within the swing arm, allowing for efficient transmission of rotational force while minimizing the size of the swing arm, pivot shaft, and tool mounting rotation arm, thus avoiding interference with surrounding objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the distance between the tool mounting portion and the rotation axis is extended, then the cable bend radius increases and welding reliability improves, but the arm structure becomes larger and positioning accuracy deteriorates
Solution Approach 1:
The patent relocates the motor from the tool mounting portion to the arm structure, utilizing spatial redistribution in three-dimensional space. This dimensional reorganization allows the cable to maintain a larger bend radius without increasing the overall arm footprint, thereby preserving positioning accuracy while improving welding reliability through reduced cable load.
Solution Approach 2:
The motor is integrated within the arm structure, with the arm pivotally supporting the tool mounting rotation arm via a pivot shaft. The motor housing and reduction mechanism are nested within the arm's structural envelope, allowing compact arrangement that accommodates both the extended cable radius and precise positioning requirements.
2Volume of moving object
If the motor is mounted in the tool mounting portion, then the arm structure can be compact, but the cable interferes with the motor during pivoting operations
Solution Approach 1:
The motor is extracted from the tool mounting portion and relocated to the arm structure. This separation removes the interfering element (motor) from the zone where cable movement occurs during pivoting, eliminating the interference problem while maintaining compact overall dimensions through integrated design.
Solution Approach 2:
The patent introduces a reduction mechanism as an intermediary between the motor and the tool mounting rotation arm. This intermediary component transmits rotational drive force from the motor (located in the arm) to the pivot shaft, enabling reliable power transmission without direct motor-cable interference during pivoting operations.
3Ease of operation
If the motor is relocated to avoid interference, then cable interference is eliminated, but the mounted position changes according to operation reducing efficiency
Solution Approach 1:
The arm structure serves multiple functions: it supports the tool mounting rotation arm via the pivot shaft, houses the motor and reduction mechanism, and provides a stable mounting platform that remains stationary during operations. This universal design allows the motor to maintain a fixed optimal position for efficient operation while the tool mounting portion and cable move freely without interference.
4Power
If a bevel gear is used to drive the tool mounting portion, then rotational drive can be transmitted, but the gear diameter must increase with distance reducing positioning accuracy
Solution Approach 1:
The reduction mechanism serves as an intermediary between the motor and the tool mounting rotation arm. It transmits rotational drive force through a compact arrangement that includes gears and a pivot shaft, achieving the necessary torque multiplication without requiring a large-diameter bevel gear. This intermediary transmission system preserves positioning accuracy while delivering adequate rotational drive force.
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 enables the industrial robot to operate in narrow spaces with improved positioning accuracy and reduced risk of interference, enhancing its adaptability and maintainability by allowing a longer cable bend radius and compact assembly.
Implementation Method 1
a tool mounting rotation arm driving reduction mechanism provided in the swing arm, engaged with the outer periphery of the pivot shaft and adapted to pivot the tool mounting rotation arm while decelerating the rotational drive force of the pivot shaft
Implementation Method 2
a tool mounting rotation arm driving motor provided in the swing arm and adapted to generate a rotational drive force of the tool mounting rotation arm
Implementation Method 3
an output gear provided in the tool mounting portion driving reduction unit in the tool mounting rotation arm, engaged with an outer gear of the tool mounting portion and adapted to transmit the rotation decelerated by the tool mounting portion driving reduction unit to the tool mounting portion
Data Source
AI summary
The present invention relates to an industrial robot and aims to provide an industrial robot capable of ensuring a long distance from a rotation axis of an arm to a tool mounting portion and accurately positioning the tool mounting portion by a compact structure. In a swing arm 150, the rotation of a tool mounting rotation arm driving motor 311 is transmitted to a pivot shaft 313 via a tool mounting rotation arm driving transmission mechanism 300, the rotation of a tool mounting portion driving motor 411 is transmitted to an intermediate power transmission shaft 422 via a tool mounting portion driving first transmission mechanism 412a, and the rotation of the intermediate power transmission shaft 422 is transmitted to an output power transmission shaft 426 via a tool mounting portion driving second transmission mechanism 412b, thereby rotating a tool mounting portion 170 while being decelerated by a tool mounting portion driving reduction unit 413.