Robot arm driving unit
US-2021162587-A1 · Jun 3, 2021 · US
Articulated structure of robot
US11413743B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-11413743-B2 |
| Application number | US-202017087907-A |
| Country | US |
| Kind code | B2 |
| Filing date | Nov 3, 2020 |
| Priority date | Dec 13, 2019 |
| Publication date | Aug 16, 2022 |
| Grant date | Aug 16, 2022 |
How to read this patent
A practical reading order for non-experts. Skip the full description unless you need deep technical detail.
- Title
What the patent document calls the invention.
- Abstract
A short plain-language summary of the technical disclosure.
- Assignees and inventors
Who owns or filed the patent and who is credited as inventor.
- Key dates
Filing, priority, publication, and grant dates set the timeline.
- First independent claim
The legal scope of protection — read this for what is actually claimed.
- CPC / IPC classifications
Technology tags used to group this patent with similar filings.
- Citations and related patents
Prior art links and similar publications in this corpus.
Abstract
Official abstract text for this publication.
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.
First claim
Opening claim text (preview).
The invention claimed is: 1. An articulated structure of a robot, comprising a hollow first member, a hollow second member, and an actuator that relatively rotates the first member and the second member about a first axis, wherein the actuator comprises a motor fixed in a housed state in the first member, a reducer that slows down rotation of a shaft of the motor to transmit the rotation to the second member, and a power transmission mechanism that transmits power of the motor to the reducer, the reducer comprises 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 comprises 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, and a housing that houses the second power transmitting section to support the motor, and the housing is detachably attached to the first member at a position offset radially outward from the hollow hole. 2. The articulated structure of the robot according to claim 1 , wherein the input member is composed of a spur gear or a helical gear, the first power transmitting section is a first gear that meshes with the input member, and the second power transmitting section comprises a second gear composed of a bevel gear fixed to the first gear, and a third gear composed of a bevel gear that meshes with the second gear and connects with the motor. 3. The articulated structure of the robot according to claim 2 , wherein the housing comprises a first opening through which a meshed position of the second gear with the third gear is exposed, and a first lid member that openably closes the first opening. 4. The articulated structure of the robot according to claim 2 , wherein the housing comprises a bearing that rotatably supports the first gear and the second gear and that supports a radial force and a thrust force. 5. The articulated structure of the robot according to claim 3 , wherein the housing comprises a bearing that rotatably supports the first gear and the second gear and that supports a radial force and a thrust force. 6. The articulated structure of the robot according to claim 1 , wherein the first member comprises a second opening that allows the housing equipped with the motor to pass through the second opening, and a second lid member that openably closes the second opening.
Assignees
Inventors
Classifications
Patent family
Related publications grouped by family.
External sources
Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US11413743B2 cover?
- 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, …
- Who is the assignee on this patent?
- Fanuc Corp
- What technology area does this patent fall under?
- Primary CPC classification B25J9/102. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Aug 16 2022 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 3 related publications on this page (citations in our corpus or others sharing the same primary CPC).