Vertical Multi-Joint Robot Motor Mounting
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Solution Overview
Problem
Conventional vertical articulated robots face challenges in motor replacement and maintenance, requiring significant downtime due to the need to separate arms and risk of mechanical displacement, which reduces productivity and increases maintenance time.
Innovation Solution
The robot design features a motor mounted on the second upper arm's frame, exposed for easy replacement, and a cable arrangement that minimizes protrusion and breakage risk, allowing for quick motor swaps and maintenance without arm disassembly, thus reducing mechanical displacement and enabling operations near the robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the drive motor for the second upper arm is disposed inside the second upper arm, then the robot structure is compact, but the motor cannot be replaced without separating the second upper arm from the robot, resulting in long maintenance time
Solution Approach 1:
The drive motor is extracted from the internal structure of the second upper arm and mounted on the external surface of the arm frame. This allows the motor to be accessed and replaced independently without disassembling the arm structure, directly resolving the contradiction between compact structure and easy maintenance.
2Productivity
If the robot arms are arranged to perform high-speed, high-precision operations, then operational efficiency is improved, but the arms may interfere with obstacles or other components in the operating area
Solution Approach 1:
The robot is designed with a redundant axis (seven degrees of freedom instead of the minimum six), allowing dynamic adjustment of arm configurations. The additional degree of freedom enables the arms to navigate around obstacles and adapt to different operating positions while maintaining high-speed, high-precision operation capabilities.
3Area of stationary object
If multiple robots are collectively arranged to reduce manufacturing space, then space utilization is improved, but robots without redundant axes cannot operate in areas near themselves
Solution Approach 1:
The redundant axis enables each robot to dynamically adjust its arm configurations to reach and operate in areas immediately surrounding its base position. This allows dense packing of multiple robots in the manufacturing line while each robot maintains the ability to service nearby components without colliding with adjacent robots.
4Adaptability or versatility
If the robot structure is made complex to enable flexible movement in densely arranged environments, then adaptability is improved, but maintenance becomes difficult
Solution Approach 1:
The drive motors are extracted from the internal arm structures and mounted on external surfaces. This design choice allows the complex multi-joint arm structure to maintain its flexibility for navigating dense environments, while the externally mounted motors provide easy access for maintenance without requiring disassembly of the articulated arm components.
Data Source
Figure 1(a)~1(b)
Figure 2~3
Figure 4
AI summary
The present invention provides a vertical articulated robot in which a drive motor can be replaced in a short time, which can readily correct mechanical displacements, and which can perform an operation in an area near the robot. A vertical articulated robot includes a base 1, a turning base 2 provided on the base 1 so as to be pivotable about a first rotation axis (1); a first upper arm 5 provided on the turning base 2 so as to be turnable about a second rotation axis (2) that is in a plane perpendicular to the first rotation axis (1); a second upper arm 8 provided on a distal end portion of the first upper arm 5 so as to be pivotable about a third rotation axis (3) that is perpendicular to the second rotation axis (2); a front arm provided on a distal end portion of the second upper arm 8 so as to be turnable about a fourth rotation axis (4) that is in a plane perpendicular to the third rotation axis (3); a wrist assembly 14 mounted on a distal end portion of the front arm; and motors that rotate the first upper arm 5, the second upper arm 8, and the front arm about the respective rotation axes. The motor 10 that rotates the second upper arm 8 is mounted on a frame of the second upper arm 8.