ROBOT ARM ASSEMBLY

• US 20110265597A1
• Filed: 12/22/2010
• Published: 11/03/2011
• Est. Priority Date: 04/29/2010
• Status: Active Grant

• Current Assignee: Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. (Hon Hai Precision Industry Co., Ltd.), Hon Hai Precision Industry Co., Ltd.
• Original Assignee: Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. (Hon Hai Precision Industry Co., Ltd.), Hon Hai Precision Industry Co., Ltd.
• Inventors: LONG, BO
• Granted Patent: US 8,511,199 B2
• Time in Patent Office: Days
• US Class Current: 74/490.05
• CPC Class Codes: B25J 17/0258 Two-dimensional joints
• CPC Class Codes: B25J 9/102 Gears specially adapted therefor, e.g. reduction gears gearings in general F16H
• CPC Class Codes: Y10T 74/20329 Joint between elements

Abstract

A robot arm assembly includes a support arm, a connecting arm, and an end arm. The support arm is rotatably assembled with the connecting arm along a first axis, and is located at one end of the connecting arm. The end arm is rotatably assembled to the other end of the connecting arm along a second axis substantially perpendicular to the first axis, such that the connecting arm is rotatably assembled between the support arm and the end arm.

Claims

1. A robot arm assembly, comprising:

a connecting arm;

a support arm rotatably assembled with the connecting arm along a first axis, and located at one end of the connecting arm; and

an end arm rotatably assembled to another end of the connecting arm along a second axis substantially perpendicular to the first axis, such that the connecting arm is rotatably assembled between the support arm and the end arm.

2. The robot arm assembly of claim 1, wherein the support arm comprises a hollow main body, a hollow rotary connecting portion, a first gear, a second gear, a third gear, and a fourth gear;

the rotary connecting portion cross-joints with one end of the main body and is rotatably assembled to the connecting arm;

the first and second gears are rotatably assembled within the main body, and the third and fourth gears are respectively assembled within two ends of the rotary connecting portion and respectively engage with the first and second gears.

3. The robot arm assembly of claim 2, wherein the main body defines a first assembly shaft hole, the rotary connecting portion defines a second assembly shaft hole substantially perpendicular to and cross jointed with the first assembly shaft hole;

the first and second gears are assembled within the first assembly shaft hole, and the second gear is substantially hollow shaped and rotatably sleeves on the first gear.

4. The robot arm assembly of claim 3, wherein the support arm further comprises two first bearings;

the first, second, third, and fourth gears are bevel gears, and the first gear is rotatably assembled within the second gear via the two first bearings and is substantially coaxial with the second gear.

5. The robot arm assembly of claim 4, wherein the third gear is rotatably assembled within one end of the second assembly shaft hole via two second bearings, the fourth gear is rotatably assembled within the opposite other end of the second assembly shaft hole and is coaxial with the third gear.

6. The robot arm assembly of claim 3, wherein the support arm further comprises a first reducer assembled within the second assembly shaft hole together with the fourth gear, the first reducer includes an input shaft fixed with the fourth gear, and an opposite output shaft rotatably is assembled with the connecting arm, such that the support arm is rotatably assembled to the connecting arm.

7. The robot arm assembly of claim 6, wherein the first reducer is a cycloidal pinwheel reducer.

8. The robot arm assembly of claim 6, wherein the connecting arm comprises a connecting body, the connecting body comprises two side plates and a bottom plate connects with the two side plates, the two side plates and the bottom plate cooperatively define a receiving space, the rotary connecting portion of the support arm together with the third gear and the first reducer is received within the receiving space, and the two ends of the rotary connecting portion are respectively rotatably assembled to the two side plates via the third and fourth gear.

9. The robot arm assembly of claim 8, wherein a first mounting hole and a second mounting hole are separately defined in one side plate;

the first mounting hole communicates with the receiving space;

the second mounting hole is positioned adjacent to the bottom plate;

the bottom plate defines a third mounting hole crosses the second mounting hole;

the connecting arm further comprises a fifth gear, a sixth gear, and a seventh gear;

the fifth gear is rotatably assembled to the first mounting hole and fixed with third gear;

the sixth gear is assembled to the second mounting hole and engages the fifth gear;

the seventh gear is fixed with the sixth gear and received within the second mounting hole;

the end arm is rotatably assembled within the third mounting hole and is driven by the seventh gear to rotate.

10. The robot arm assembly of claim 9, wherein the end arm comprises a transmission gear and an output flange fixed to the transmission gear;

the transmission gear is a bevel gear assembled within the third mounting hole and rotatably engages the corresponding seventh gear.

11. The robot arm assembly of claim 10, the end arm further comprises a second reducer assembled between the transmission gear and the output flange, the second reducer comprises an input shaft and an opposite output shaft, the input shaft is fixed with the transmission gear, and the output shaft is fixed to the output flange such that the output flange is rotatably assembled with the connecting arm via the transmission gear and the second reducer.

12. A robot arm assembly, comprising:

a support arm comprising;

a main body defining a first assembly shaft hole;

a rotary connecting portion formed at one end of the main body and defining a second assembly shaft hole cross-jointed with the first assembly shaft hole;

a first gear rotatably assembled within the first assembly shaft hole of the main body;

a hollow second gear rotatably assembled within the first assembling hole together with the first gear;

a third gear assembled within one end of the second assembly shaft hole of the rotary connecting portion and engaging the first gear; and

a fourth gear assembled within another end of the second assembly shaft hole and engaging the second gear;

a connecting arm comprising two side plates and a bottom plate connecting with the two side plates, the two side plates being rotatably assembled to two ends of the rotary connecting portion of the support arm along a first axis; and

an end arm rotatably assembled to the bottom plate of the connecting arm along a second axis substantially perpendicular to the first axis.

13. The robot arm assembly of claim 12, wherein the first, second, third and fourth gears are all bevel gears, the first gear is rotatably assembled within the second gear via two first bearings and is substantially coaxial with the second gear;

the third gear is rotatably assembled within a first end of the second assembly shaft hole via two second bearings, the fourth gear is rotatably assembled within a second end of the second assembly shaft hole and is substantially coaxial with the third gear.

14. The robot arm assembly of claim 13, wherein one side plate of the connecting body defines a first mounting hole and a second mounting hole spaced to the first mounting hole and positioned adjacent to the bottom plate;

the bottom plate defines a third mounting hole crosses the second mounting hole;

the connecting arm further comprises a fifth gear, a six gear, and a seventh gear;

the fifth gear is rotatably assembled to the first mounting hole and fixed with third gear;

the six gear is assembled to the second mounting hole and engages the fifth gear;

the seventh gear is fixed with the sixth gear and received within the second mounting hole;

the end arm is rotatably assembled within the third mounting hole and is driven by the seventh gear to rotate.

15. The robot arm assembly of claim 14, the end arm comprises a transmission gear and an output flange fixed to the transmission gear, and the transmission gear is a bevel gear assembled within the third mounting hole and rotatably engages the corresponding seventh gear.

16. The robot arm assembly of claim 15, the support arm further comprises a first reducer assembled within the second assembly shaft hole together with the fourth gear, the first reducer includes an input shaft fixed with the fourth gear, and an opposite output shaft rotatably assembled with the connecting arm;

the end arm further comprises a second reducer assembled between the transmission gear and the output flange, the second reducer comprises an input shaft and an opposite output shaft, the input shaft is fixed with the transmission gear, and the output shaft is fixed to the output flange.

17. The robot arm assembly of claim 16, wherein the first and second reducer are both cycloidal pinwheel reducers.