Robot and assembly method thereof

Patent metadata

Field	Value
Publication number	US-12318929-B2
Application number	US-201917624686-A
Country	US
Kind code	B2
Filing date	Jul 24, 2019
Priority date	Jul 24, 2019
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

Embodiments of the present disclosure provide a robot. The robot arm link includes a first arm link; a hollow shaft extending along a first axis thereof and coupled to the first arm link; a first stage reduction assembly coupled to a power source of the robot; and a second stage reduction assembly comprising: an input coupled to an output of the first stage reduction assembly and adapted to rotate about a second axis offset from the first axis; and an output coaxially arranged on a periphery of the hollow shaft and adapted to engage with the input to cause a rotation of the first arm link via the hollow shaft.

First claim

What is claimed is:

1. A robot, comprising:
a first arm link;
a first hollow shaft extending along a first axis thereof and coupled to the first arm link,
wherein the first hollow shaft allows for cables to pass therethrough;

a second arm link connected to the first hollow shaft, the second arm link comprising:
a first stage reduction assembly extending along a second axis thereof and coupled to a first power source of the robot;
a second stage reduction assembly comprising:
an input of the second stage reduction assembly coupled to an output of the first stage reduction assembly,
wherein the input of the second stage reduction assembly is adapted to rotate about the second axis; and

an output of the second stage reduction assembly coaxially arranged on a periphery of the first hollow shaft,
wherein the output of the second stage reduction assembly is adapted to engage with the input of the second stage reduction assembly to cause a rotation of the first arm link about the first axis by driving the first hollow shaft to rotate about the first axis;

a third stage reduction assembly extending along a third axis thereof and coupled to a second power source of the robot; and
a fourth stage reduction assembly comprising:
an input of the fourth stage reduction assembly coupled to an output of the third stage reduction assembly; and
an output of the fourth stage reduction assembly coaxially arranged on a periphery of a second hollow shaft,
wherein the output of the fourth stage reduction assembly is adapted to engage with the input of the fourth stage reduction assembly;

wherein the first axis is offset from the second axis in a direction of the second stage reduction assembly, and
wherein the second stage reduction assembly further comprises a belt connected to the input of the second stage reduction assembly and the output of the second stage reduction assembly and via which the input of the second stage reduction assembly and the output of the second stage reduction assembly engage with each other; and

a third arm link,
wherein the third arm link is coupled to the output of the fourth stage reduction assembly via the second hollow shaft, and
wherein the third arm link is driven by the fourth stage reduction assembly via the second hollow shaft to rotate about a fourth axis.

2. The robot of claim 1 , wherein the first stage reduction assembly comprises a gearhead coupled to an output shaft of the first power source.

3. The robot of claim 1 , further comprising:
at least one bearing arranged on the periphery of the first hollow shaft.

4. The robot of claim 1 ,
wherein the second arm link is connected to the first arm link via the first hollow shaft, and
wherein the first hollow shaft and the first stage reduction assembly and the second stage reduction assembly are partially arranged in one of the first arm link and the second arm link.

5. The robot of claim 1 , wherein the belt comprises a synchronous belt.

6. The robot of claim 1 , wherein the first hollow shaft is coupled to the first arm link via a keyway structure or screws, or the first hollow shaft and the first arm link are integrally formed.

7. The robot of claim 1 , the first hollow shaft and the output of the second stage reduction assembly are integrally formed or assembled by interference fit or screw pressing.

8. An assembly method of a robot, comprising:
providing a first arm link;
providing a first hollow shaft extending along a first axis and coupled to the first arm link,
wherein the first hollow shaft allows for cables to pass therethrough;

providing a second arm link connected to the first hollow shaft;
providing a first stage reduction assembly extending along a second axis and coupled to a first power source;
providing a second stage reduction assembly comprising:
an input of the second stage reduction assembly coupled to an output of the first stage reduction assembly,
wherein the input of the second stage reduction assembly is adapted to rotate about the second axis; and

an output of the second stage reduction assembly coaxially arranged on a periphery of the first hollow shaft,
wherein the output of the second stage reduction assembly is adapted to engage with the input of the second stage reduction assembly to cause a rotation of the first arm link about the first axis by driving the first hollow shaft to rotate about the first axis;

providing a third stage reduction assembly extending along a third axis thereof and coupled to a second power source of the robot;
providing a fourth stage reduction assembly comprising:
an input of the fourth stage reduction assembly coupled to an output of the third stage reduction assembly; and
an output of the fourth stage reduction assembly coaxially arranged on a periphery of a second hollow shaft,
wherein the output of the fourth stage reduction assembly is adapted to engage with the input of the fourth stage reduction assembly; and

providing a third arm link connected to the fourth stage reduction assembly via second hollow shaft,
wherein the third arm link is driven by the fourth stage reduction assembly via the second hollow shaft to rotate about a fourth axis;

wherein the first axis is offset from the second axis in a direction of the second stage reduction assembly; and
wherein the second stage reduction assembly further comprises a belt connected to the input of the second stage reduction assembly and the output of the second stage reduction assembly and via which the input of the second stage reduction assembly and the output of the second stage reduction assembly engage with each other.

Assignees

• Abb Schweiz Ag

Inventors

• Haulin Jonas
• Gu Hao
• Feng Tao
• Wang Kangjian

Classifications

• B25J9/104

  with cables, chains or ribbons · CPC title

• B25J9/102 Primary

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

• B25J19/007

  Means or methods for designing or fabricating manipulators · CPC title

• B25J9/106 Primary

  with articulated links · CPC title