Robot arm

Patent metadata

Field	Value
Publication number	US-10173330-B2
Application number	US-201615073564-A
Country	US
Kind code	B2
Filing date	Mar 17, 2016
Priority date	Jul 28, 2015
Publication date	Jan 8, 2019
Grant date	Jan 8, 2019

Abstract

A robot arm includes a first member, a second member, an actuator, and a speed reducer. The second member is pivotable relative to the first member about a pivot axis. The actuator is configured to pivotally move the second member relative to the first member about the pivot axis. The speed reducer is configured to couple the actuator to the second member to reduce a rotational speed of the second member relative to an output rotational speed of the actuator. The speed reducer includes a grease chamber in which grease is to be provided. The second member including an air chamber in which air is provided, the air chamber being connected to the grease chamber.

First claim

What is claimed is:

1. A robot arm comprising:
a first member;
a second member pivotable relative to the first member about a pivot axis;
an actuator configured to pivotally move the second member relative to the first member about the pivot axis;
a speed reducer configured to couple the actuator to the second member to reduce a rotational speed of the second member relative to an output rotational speed of the actuator, the speed reducer including a grease chamber in which grease is to be provided, the speed reducer including an output member coupled to the second member, the output member including a first passageway connected to the grease chamber; and
the second member including an air chamber in which air is provided, the air chamber being connected to the grease chamber, the second member including a second passageway connecting the air chamber to the first passageway.

2. The robot arm according to claim 1 , wherein
the air chamber is provided above the grease chamber in a usage state of the robot arm.

3. The robot arm according to claim 1 , wherein
the air chamber is provided above the output member in a usage state of the robot arm.

4. The robot arm according to claim 3 , wherein
the output member includes a first surface,
the second member includes a second surface facing the first surface, and
the air chamber is provided above the second surface in the usage state of the robot arm.

5. The robot arm according to claim 1 , wherein
the second passageway includes
a bleed passageway configured to connect the first passageway to outside of the second member, and
an intermediate passageway connecting the bleed passageway to the air chamber.

6. The robot arm according to claim 5 , wherein
the intermediate passageway has a maximum cross-sectional area smaller than a minimum cross-sectional area of the bleed passageway.

7. The robot arm according to claim 1 , wherein
the second member includes
a second body including a recess, and
a lid attached to the second body to cover the recess, and

the air chamber is defined by the recess and the lid.

8. The robot arm according to claim 7 , wherein
the second body includes an internal space, and
the lid is provided in the internal space.

9. The robot arm according to claim 7 , wherein
the recess is integrally provided with the second body as a one-piece unitary member.

10. The robot arm according to claim 1 , wherein
the air chamber has a curved shape when viewed from an axial direction parallel to the pivot axis.

Assignees

• Yaskawa Electric Corp

Inventors

• Kojima Kotaro
• Yamamoto Kazunori
• Ito Tsuyoshi

Classifications

• B25J19/0062 Primary

  Lubrication means · CPC title