Robot Joint Structure with Segmented Gear Housing
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Solution Overview
Problem
Existing robot joint structures face limitations in setting a larger speed reduction ratio due to interference issues with gear diameters, leading to increased component costs and man-hours, and maintenance challenges with heavy speed reducers and second members.
Innovation Solution
A joint structure with a gear accommodating portion that allows for a second gear with a larger diameter than the speed reducer coupling unit, where the gear accommodating portion is either a cover member or integrally formed with the first member, enabling easy attachment and removal of the second gear without disrupting the power transmission path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the second gear diameter is increased to achieve a larger speed reduction ratio, then the speed reduction ratio is improved, but the gear interferes with the wall portion of the first member when the speed reducer is coupled to the first member
Solution Approach 1:
The first member is divided into a main body and a separately attachable gear accommodating portion. The gear accommodating portion is detachably coupled to the main body and includes a recess that accommodates the second gear. This segmentation allows the second gear to have a larger diameter than the coupling unit of the speed reducer without interfering with the wall portion, as the gear accommodating portion provides the necessary space when attached to the main body.
2Adaptability or versatility
If the opening of the recess is made larger to accommodate a larger diameter second gear, then the gear diameter can be increased, but the speed reducer cannot be coupled to the first member
Solution Approach 1:
The gear accommodating portion is designed as a separate component that can be detachably coupled to the main body of the first member. When the gear accommodating portion is attached, it provides a recess with sufficient space for a large diameter second gear. When detached, the opening of the recess is small enough to allow the speed reducer to be coupled to the main body without obstruction. This segmentation resolves the contradiction between accommodating large gears and enabling speed reducer coupling.
3Force
If the speed reducer is made heavy to increase torque output, then the driving force is improved, but maintenance becomes difficult due to the need to remove heavy components
Solution Approach 1:
The first member is segmented into a main body and a detachably coupled gear accommodating portion. The gear accommodating portion, which contains the second gear and part of the power transmission mechanism, can be removed from the main body without removing the entire speed reducer or heavy structural components. This segmentation enables maintenance personnel to access and replace gears more easily while preserving the heavy main body and speed reducer in place, thus improving ease of repair while maintaining high torque output capability.
Data Source
AI summary
A joint structure for a robot of the present invention includes: a first member; a speed reducer coupled to one surface of a wall portion of the first member; a motor located at a side opposite to the one surface of the wall portion of the first member; a first gear attached to a shaft of the motor; a second gear attached to a shaft of an input unit of the speed reducer and intermeshing with the first gear; and a second member attached to an output unit of the speed reducer. The diameter of the second gear is larger than a coupling unit that couples to the first member. The first member is provided with a gear accommodating portion that accommodates the first and second gear, a part of the gear accommodating portion which covers at least the second gear is removable with respect to the first member.