Robot arm assembly
View Patent ↗A robot arm assembly with tubes or pipes carrying fluids or electrical cables which do not get bent and are relatively straight, and are not disrupted by, the moving parts of the robot arm includes a first robot arm, a second robot arm, a third robot arm, and a flexible carrying tube. The second robot arm includes a first axle base, a first input shaft, a first bevel gear, and a second bevel gear. The flexible tube is inserted into the first bevel gear and the second bevel gear along a first axis, and fixed to the output shaft.
1. A robot arm assembly, comprising:
a first robot arm;
a second robot arm comprising:
a first axle base comprising a first opening end and a second opening end connected to the first opening end, the first opening end fixed to the first robot arm;
a first input shaft received in the first robot arm;
a first bevel gear fixed to the first input shaft, and located adjacent to the first opening end; and
a second bevel gear mounted on the second opening end, and meshing with the first bevel gear;
a third robot arm comprising:
a second input shaft rotatable along a first axis, and received in the first input shaft;
a second axle base fixed to the second bevel gear;
a third bevel gear fixed to an end of the second input shaft adjacent to the first bevel gear;
a fourth bevel gear inserted into the second bevel gear and meshing with the third bevel gear; and
a fifth bevel gear positioned in the second axle base and meshing with the fourth bevel gear; and
an output shaft inserted into the second axle base, and an axis of the output shaft overlapped with the first axis, the output shaft coaxially positioned at an end of the fifth bevel gear away from the fourth bevel gear; and
a flexible cable receiving tube inserted into the first bevel gear, the second bevel gear, the third bevel gear, the fourth bevel gear, and the fifth bevel gear along the first axis, and an end of the flexible cable receiving tube arranged away from the second input shaft fixed to the output shaft,
wherein the second bevel gear is rotatable around a second axis inclined relative to the first axis, the first input shaft is capable of rotating the first bevel gear, and then driving the second bevel gear and the second axle base to rotate around the second axis, the second input shaft is capable of rotating the output shaft around the first axis, and then driving the flexible cable receiving tube to rotate around the first axis, the fourth bevel gear rotates around the second axis, the fifth bevel gear rotates around the second axis.
2. The robot arm assembly of claim 1 , wherein an axis of the first opening end is overlapped with the first axis, and an axis of the second opening end is overlapped with the second axis.
3. The robot arm assembly of claim 1 , wherein the first robot arm, the first input shaft, and the second input shaft is coaxially arranged, and the first bevel gear and the first input shaft is coaxially arranged.
4. The robot arm assembly of claim 1 , wherein the second axle base comprises a third opening end opposite to the first opening end, and a fourth opening end connected to the third opening end, the third opening end is fixed to the second bevel gear, an axis of the third bevel gear is overlapped with the first axis, an axis of the fourth bevel gear is overlapped with the second axis.
5. The robot arm assembly of claim 4 , wherein the second robot arm further comprises a first bearing and a second bearing, the first bearing is mounted between the first bevel gear and the first opening end, and the second bearing is mounted between the second bevel gear and the second opening end.
6. The robot arm assembly of claim 4 , wherein the third robot arm further comprises a third bearing, a fourth bearing, and a fifth bearing, the third bearing is sleeved on a connecting portion of the second input shaft and the third bevel gear, the fourth bearing is sleeved on the fourth bevel gear and the fifth bevel gear, and the fifth bearing is sleeved on the second axle base and the output shaft.
7. A robot arm assembly, comprising two robot arms;
one of the two robot arms comprising:
a first axle base comprising a first opening end and a second opening end connected to the first opening end;
a first input shaft;
a first bevel gear fixed to the first input shaft, and received in the first opening end;
a second bevel gear received in the second opening end, and meshing with the first bevel gear; and
the other one of the two robot arms comprising:
a second input shaft rotatable along a first axis, and received in the first input shaft;
a second axle base fixed to the second bevel gear;
a third bevel gear fixed to an end of the second input shaft adjacent to the first bevel gear;
a fourth bevel gear inserted into the second bevel gear and meshing with the third bevel gear; and
a fifth bevel gear positioned in the second axle base and meshing with the fourth bevel gear; and
an output shaft inserted into the second axle base, an axis of the output shaft overlapped with the first axis, the output shaft coaxially positioned at an end of the fifth bevel gear away from the fourth bevel gear; and
a flexible cable receiving tube inserted into the first bevel gear, the second bevel gear, the third bevel gear, the fourth bevel gear, and the fifth bevel gear along the first axis, and fixed to the output shaft,
wherein the second bevel gear is rotatable around a second axis inclined relative to the first axis, the first input shaft is capable of rotating the first bevel gear, and then driving the second bevel gear and the second axle base to rotate around the second axis, the second input shaft is capable of rotating the output shaft around the first axis, and then driving the flexible cable receiving tube to rotate around the first axis, the fourth bevel gear is rotatable around the second axis, the fifth bevel gear is rotatable around the second axis.
8. The robot arm assembly of claim 7 , wherein an axis of the first opening end is overlapped with the first axis, and an axis of the second opening end is overlapped with the second axis.
9. The robot arm assembly of claim 7 , wherein the first input shaft and the second input shaft is coaxially arranged, and the first bevel gear and the first input shaft is coaxially arranged.
10. The robot arm assembly of claim 7 , wherein the second axle base comprises a third opening end opposite to the first opening end, and a fourth opening end connected to the third opening end, the third opening end is fixed to the second bevel gear, an axis of the third bevel gear is overlapped with the first axis, an axis of the fourth bevel gear is overlapped with the second axis.
11. The robot arm assembly of claim 10 , wherein the one of the two robot arms comprising the first axle base further comprises a first bearing and a second bearing, the first bearing is mounted between the first bevel gear and the first opening end, and the second bearing is mounted between the second bevel gear and the second opening end.
12. The robot arm assembly of claim 10 , wherein the other one of the two robot arms comprising the second axle base further comprises a third bearing, a fourth bearing, and a fifth bearing, the third bearing is sleeved on a connecting portion of the second input shaft and the third bevel gear, the fourth bearing is sleeved on the fourth bevel gear and the fifth bevel gear, the fifth bearing is sleeved on the second axle base and the output shaft.
13. The robot arm assembly of claim 10 , wherein a shape of the second axle base is substantially in a shape of a frustum cut along a line intersecting with an axis of the frustum.
14. The robot arm assembly of claim 7 , wherein a shape of the first axle base is substantially configured in a shape of a cylinder cut along a line intersecting with an axis of the cylinder.