Industrial Robot Arm Structure with Offset Dual Motors
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Solution Overview
Problem
Industrial robots require changes in the reduction ratio of their wrist element drive units to accommodate different payload capacities, necessitating the replacement of gears and motors, which complicates the realization of various models with the same wrist element.
Innovation Solution
The arm structure of the industrial robot incorporates a dual-motor system with laterally offset output shafts, allowing for easy adjustment of the drive unit characteristics without replacing the wrist elements, by utilizing spaces behind the motors for longer, high-torque motors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the reduction ratio of the drive unit is changed to increase payload capacity, then the payload capacity is improved, but the device complexity increases due to the need to change gears and prepare new wrist elements
Solution Approach 1:
The wrist element is designed with a universal structure that can accommodate multiple types of motors with different reduction ratios. The housing contains mounting spaces and positioning structures that allow different drive units to be installed in the same wrist element location, enabling one wrist element to serve multiple payload capacity requirements.
Solution Approach 2:
The drive unit is segmented into separable components: the motor and the wrist element housing. This allows the motor to be replaced independently while keeping the wrist element housing and other components the same, simplifying the process of changing reduction ratios without replacing the entire wrist element.
2Power
If the size and number of gears are changed to adjust reduction ratio, then the payload capacity is improved, but the ease of manufacture deteriorates due to the need to prepare new wrist elements
Solution Approach 1:
A single wrist element housing design serves multiple manufacturing purposes by accommodating different motor types. The standardized housing, mounting interfaces, and spatial arrangement allow the same wrist element structure to be manufactured once and used with various motors, improving ease of manufacture while enabling payload capacity variations.
3Volume of moving object
If motors are arranged in a compact configuration, then the volume is reduced, but the ease of operation deteriorates due to limited space for motor replacement and adjustment
Solution Approach 1:
The motor mounting spaces are designed utilizing three-dimensional space efficiently. The housing incorporates depth-wise spaces behind the motor mounting positions, allowing motors to be accessed and replaced from the rear direction. This dimensional arrangement maintains compact overall volume while providing adequate operational access for motor replacement and adjustment.
Data Source
AI summary
Provided is an arm structure of an industrial robot in which the same wrist element is enabled to have a plurality of types of characteristics, thus allowing a variation model to be readily implemented. An arm structure of an industrial robot with a plurality of wrist elements, the arm structure being provided with, in a housing: a first motor and a second motor that drive the plurality of wrist elements respectively; a first gear that is attached to a first output shaft of the first motor and has an external diameter equal to that of the first output shaft; and a second gear that is attached to a second output shaft of the second motor and has an external diameter equal to that of the second output shaft. The second motor is disposed in front of the first motor and is disposed such that the axis of the second output shaft is laterally offset with respect to the axis of the first output shaft. A space portion is provided to the rear of each of the first motor and the second motor.