US 12,280,497 B2
Arm robot
Takuya Kawata, Kobe (JP); Masato Yamamoto, Kobe (JP); Norihisa Tatsuta, Kobe (JP); and Akinori Takagi, Kobe (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 18/274,308
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed Jan. 28, 2022, PCT No. PCT/JP2022/003210
§ 371(c)(1), (2) Date Jul. 26, 2023,
PCT Pub. No. WO2022/163789, PCT Pub. Date Aug. 4, 2022.
Claims priority of application No. 2021-012191 (JP), filed on Jan. 28, 2021.
Prior Publication US 2024/0091928 A1, Mar. 21, 2024
Int. Cl. B25J 9/12 (2006.01); B25J 9/10 (2006.01); B25J 18/00 (2006.01)
CPC B25J 9/12 (2013.01) [B25J 9/106 (2013.01); B25J 18/00 (2013.01)] 5 Claims
OG exemplary drawing
 
1. An arm robot, comprising an arm and a wrist connected to the arm,
wherein the wrist comprises:
a proximal portion that is connected to the arm;
a link that extends from the proximal portion toward a distal end;
a first distal portion that is arranged closer to the distal end than the proximal portion, cantilevered by the proximal portion through the link, and rotatably attached to the proximal portion;
a second distal portion that is rotatably connected to the first distal portion and to which an end effector is attachable to;
a first motor that is arranged at the proximal portion and generates a first rotational drive force to rotate the first distal portion;
a first speed reducer that is arranged at the first distal portion, includes a hollow portion, and reduces a rotational speed of the first rotational drive force;
a second motor that is arranged at the proximal portion and generates a second rotational drive force to rotate the second distal portion;
a transmission shaft that is arranged at the first distal portion and passes through the hollow portion of the first speed reducer;
a second speed reducer that is arranged at the first distal portion, is arranged coaxial with the first speed reducer, reduces a rotational speed of the second rotational drive force that is transmitted via the transmission shaft, and transmits the second rotational drive force to the second distal portion;
a first gear member arranged in the first distal portion that is connected to the second speed reducer; and
a second gear member arranged in the second distal portion that is connected to the first gear member, the second gear member being perpendicular to the first gear member,
wherein the first speed reducer, the second speed reducer, and the first gear member are arranged in that order, from proximal to distal, along a direction parallel to a length the transmission shaft, and
the transmission shaft is connected to an input side of the second reducer and passes through the hollow portion of the first reducer.