Robot structure

Patent metadata

Field	Value
Publication number	US-10882193-B2
Application number	US-201816181606-A
Country	US
Kind code	B2
Filing date	Nov 6, 2018
Priority date	Nov 24, 2017
Publication date	Jan 5, 2021
Grant date	Jan 5, 2021

Abstract

A structure of a robot includes: a first member having a hollow portion in the vicinity of a horizontal axis; a second member rotatably supported on a side surface of the first member and having a hollow portion in the vicinity of the horizontal axis; a drive motor producing power for rotating the second member; and a speed reducer reducing the rotation speed of the drive motor and transmitting the rotation to the second member. The speed reducer includes: an output hypoid gear formed of a ring gear disposed coaxially with the horizontal axis and fixed to the first member; an input hypoid gear engaged with the output hypoid gear; and a transmission mechanism transmitting rotation from the drive motor to the input hypoid gear while reducing the speed. The drive motor, the input hypoid gear, and the transmission mechanism are supported in the second member in an accommodated state.

First claim

The invention claimed is:

1. A robot structure comprising:
a first member that has a cylindrical hollow portion in a vicinity of a horizontal axis, said circular hollow portion having a predetermined diameter and extending from a first side of the first member to an opposite side of the first member;
a second member, the second member comprising a part separate from the first member that is coupled to and supported on a side surface of the first member so as to be rotatable, via a coupling to the first member, about the horizontal axis and that has a second cylindrical hollow portion in the vicinity of the horizontal axis, said second cylindrical hollow portion having the predetermined diameter and extending from a first side of the second member to an opposite side of the second member, said second cylindrical hollow portion interfacing with the cylindrical hollow portion;
a drive motor that generates power for rotating the second member with respect to the first member; and
a speed reducer that reduces the speed of rotation of the drive motor and that transmits rotation to the second member,
wherein the speed reducer comprises an output hypoid gear formed of a ring gear that is disposed coaxially with the horizontal axis and that is fixed to the first member; an input hypoid gear that is engaged with the output hypoid gear; and a transmission mechanism that transmits rotation from the drive motor to the input hypoid gear while reducing the speed of the rotation; and
the drive motor, the input hypoid gear, and the transmission mechanism are supported in the second member in an accommodated state.

2. The robot structure according to claim 1 , wherein the transmission mechanism comprises a small gear that is fixed to a shaft of the drive motor; and a large gear that is engaged with the small gear.

3. The robot structure according to claim 2 , wherein the large gear and the small gear are spur gears.

4. The robot structure according to claim 1 ,
wherein the second member is provided with a first arm section and a second arm section that are detachably connected in a longitudinal direction;
the first arm section is rotatably supported on the first member and supports the input hypoid gear so as to be rotatable about an axis extending in a plane perpendicular to the horizontal axis and in a direction along a longitudinal axis of the second member;
the second arm section supports the drive motor; and
when the first arm section and the second arm section are connected, the transmission mechanism is connected so as to transmit rotation of the drive motor to the input hypoid gear.

5. The robot structure according to claim 1 ,
wherein the first member is a turning part that is supported, so as to be rotatable about a vertical axis, on a top of a base fixed to an installation target surface; and
the second member is a first arm that is rotatably supported on the turning part.

6. The robot structure according to claim 1 , further comprising:
a first arm that is supported, so as to be rotatable about a horizontal first axis, on a turning part that is supported, so as to be rotatable about a vertical axis, on a top of a base fixed to an installation target surface; and
a second arm that is supported, so as to be rotatable about a horizontal second axis, at a distal end of the first arm,
wherein the first member is the second arm; and
the second member is the first arm.

7. The robot structure according to claim 1 ,
wherein a base that is fixed to an installation target surface is provided;
the first member is supported, so as to be rotatable about a vertical axis, on a top of the base;
a turning motor that produces power for rotating the first member is provided;
a turning speed reducer that reduces speed of rotation of the turning motor and that transmits rotation to the first member is provided;
the turning speed reducer is provided with a turning output hypoid gear that is formed of a ring gear fixed to the first member, a turning input hypoid gear that is engaged with the turning output hypoid gear, and a turning transmission mechanism that transmits rotation from the turning motor to the turning input hypoid gear while reducing the speed of the rotation; and
the turning motor is disposed at a lower position of the first member, the position being horizontally shifted from vertically below the hollow portion and is fixed to the base.

Assignees

• Fanuc Corp

Inventors

• Inoue Toshihiko
• Motokado Tomoyuki

Classifications

• B25J9/102 Primary

  Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H) · CPC title

• B25J17/0241 Primary

  One-dimensional joints · CPC title

• B25J18/00

  Arms · CPC title

• F16H1/145

  with offset axes, e.g. hypoïd gearings · CPC title