US 12,318,929 B2
Robot and assembly method thereof
Jonas Haulin, Shanghai (CN); Hao Gu, Shanghai (CN); Tao Feng, Shanghai (CN); and Kangjian Wang, Shanghai (CN)
Assigned to ABB Schweiz AG, Baden (CH)
Appl. No. 17/624,686
Filed by ABB Schweiz AG, Baden (CH)
PCT Filed Jul. 24, 2019, PCT No. PCT/CN2019/097395
§ 371(c)(1), (2) Date Jan. 4, 2022,
PCT Pub. No. WO2021/012200, PCT Pub. Date Jan. 28, 2021.
Prior Publication US 2022/0258332 A1, Aug. 18, 2022
Int. Cl. B25J 9/00 (2006.01); B25J 9/10 (2006.01)
CPC B25J 9/106 (2013.01) [B25J 9/102 (2013.01); B25J 9/104 (2013.01)] 8 Claims
OG exemplary drawing
 
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.