Robot Joint Structure With Bevel Gear Drive and Detachable Housing
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Solution Overview
Problem
Existing articulated robot structures face challenges in efficiently transmitting power while minimizing motor projection and optimizing internal space, as the motor's orthogonal axis alignment with the arm's rotation axis leads to space constraints and complex assembly processes.
Innovation Solution
The articulated structure incorporates a hollow first and second member with an actuator that includes a motor, reducer, and a power transmission mechanism with bevel gears, allowing the motor to be housed in a way that its power transmission path is bent at right angles, minimizing projection and facilitating assembly by using a detachable housing and spigot joint for proper meshing of gears.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the motor axis is disposed orthogonal to the rotation axis using bevel gear, then power transmission is achieved, but the motor projection increases and internal space is reduced
Solution Approach 1:
The patent introduces a multi-dimensional power transmission path using bevel gears to transmit power at right angles. The power transmission mechanism includes a first bevel gear on the motor shaft and a second bevel gear on the output shaft, creating a three-dimensional power flow path that bends at right angles. This dimensional change allows the motor to be positioned with its axis parallel to the arm's longitudinal axis rather than orthogonal, reducing motor projection and maximizing internal space while maintaining effective power transmission.
2Power
If the motor is housed in the arm with orthogonal axis alignment, then power transmission is achieved, but the assembly process becomes complex
Solution Approach 1:
The patent segments the actuator into distinct modular components: the motor housed in a separate housing, the bevel gear power transmission mechanism, and the reducer. The housing can be detachably attached to the arm, allowing for simplified assembly and disassembly. This segmentation enables each component to be manufactured and tested independently, then assembled together, significantly simplifying the overall assembly process while maintaining effective power transmission from the motor through the bevel gears to the reducer.
3Volume of moving object
If the motor projection is minimized, then internal space is maximized, but power transmission efficiency may be compromised
Solution Approach 1:
The patent introduces bevel gears as intermediary elements to transfer power efficiently between the motor shaft and the reducer input shaft at right angles. The first bevel gear is coupled to the motor shaft and the second bevel gear is coupled to the reducer input shaft, creating an efficient power transmission path that bends at right angles. This intermediary mechanism allows the motor to be positioned with minimal projection (parallel to arm axis) while maintaining high power transmission efficiency through the geared connection.
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 reduces the motor's projection and maximizes internal space, simplifies assembly, and ensures efficient power transmission, while supporting radial and thrust forces effectively through bearings, thus enhancing the robot's structural efficiency and usability.
Implementation Method 1
a power transmission mechanism that transmits power of the motor to the reducer, the reducer includes a hollow hole extending through the reducer along the first axis, and an input member supported rotatably about the first axis to receive the power transmitted by the power transmission mechanism, the power transmission mechanism includes a first power transmitting section including an output member supported rotatably about a second axis parallel to the first axis to transmit power to the input member, a second power transmitting section that transmits power between the shaft supported rotatably about a third axis disposed in a plane crossing the second axis and the output member
Implementation Method 2
supporting radial and thrust forces effectively through bearings
Data Source
AI summary
An articulated structure includes first and second members, and an actuator relatively rotating the first and second members about a first axis and including a motor fixed in the first member, a reducer transmitting rotation of the motor to the second member, and a mechanism transmitting power of the motor to the reducer, the reducer includes a hole extending therethrough along the first axis, and an input member supported rotatably about the first axis to receive the power. The mechanism includes a first section including an output member supported rotatably about a second axis parallel to the first axis to transmit power to the input member, a second section transmitting power between a shaft of the motor and the output member, and a housing that houses the second section to support the motor and being detachably attached to the first member at a position offset radially outward from the hole.