United States: (12) Patent Application Publication (10) Pub. No.: US 2011/0112687 A1

US 20110112687A1
(19) United States

(12) Patent Application Publication (10) Pub. No.: US 2011/0112687 A1
LONG
(54)
(43) Pub. Date:
ROBOT ARM
Publication Classi?cation
(51)
(75) Inventor:
Int. Cl.
B25J 18/04
BO LONG, ShenZhen City (CN)
2006.01
B25] 9/04
(52)
(73) Assignees:
May 12, 2011
E200 6'01;
US. Cl. ......................................... .. 700/264; 901/27
HONG FU JIN PRECISION
(57)
INDUSTRY (shelizhen) CO'
A robot arm includes a ?rst rotation unit, a second rotation
LTD., ShenZhen City (CN); HON
HAI PRECISION INDUSTRY

h
CO" LTD" Tu'C eng (TW)
. h
ABSTRACT
.
h. d
umt avmg a rst en an a secon en 3 at 1r rotation umt,

a ?rst pivot un1t, and a second pivot unit. The ?rst pivot umt
pivotally connects the second rotation unit With the ?rst rota
tion unit around a ?rst axis. The ?rst pivot unit includes a ?rst
(21) APP1- NOJ

(22)
Filed:
12/652,141
Jan. 5, 2010
driver received in the second rotation unit. The second pivot

unit pivotally connects the third rotation unit With the second
rotation unit around a second axis. The second pivot unit
includes a second driver received in the third rotation unit and
a transmission mechanism disposed between the second
driver and the second rotation unit. The ?rst driver and the
second driver are disposed on the same side of the transmis
(30)
Foreign Application Priority Data
sion mechanism, the ?rst end and the second end of the
second rotation unit are rotatably connected to the third rota
Nov. 10, 2009
(CN) ...................... .. 200910309513.X
tion unit respectively.
Patent Application Publication
May 12, 2011 Sheet 1 0f 4
US 2011/0112687 A1
H.0:
May 12, 2011 Sheet 2 0f 4
US 2011/0112687 Al
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May 12, 2011 Sheet 3 0f 4
US 2011/0112687 A1
FIG.
May 12, 2011 Sheet 4 0f 4
US 2011/0112687 A1
FIG.
US 2011/0112687 A1
ROBOT ARM
BACKGROUND
[0001]
[0002]
1. Technical Field
The present disclosure generally relates to robotics,
and particularly, to an arm applied in a robot.
[0003]
[0004]
2. Description of RelatedArt
Industrial robots generally include arm portions piv
May 12, 2011
formed on an outer surface of the pivoting portions 33. The
receiving portion 35 includes a third cavity 351 and a plurality

of ribs 353 formed therein. The second rotation unit 20 is
disposed betWeen the ?rst end 21 and the second end 22. The
?rst end 21 and the second end 22 of the second rotation unit
20 are rotatably connected to the ears 31, respectively.
[0015] The fourth rotation unit 40 includes a fourth cavity
41. The fourth rotation unit 40 is connected to a main body of
otally connected in sequence. Each arm portion can rotate

relative to the others When driven by an electrical engine.
a robot (not shoWn).

[0016] The ?rst pivot unit 50 includes a ?rst driver 51, and
Performance parameters such as precision, loading ability,

and stability are determined by position relationships and
driving relationships among components arranged at the piv
oting portions of the arm portions. In addition, industrial
a ?rst decelerator 53 driven by the ?rst driver 51. The ?rst

driver 51 includes a ?rst output shaft 511 rotated by the ?rst
driver 51. The ?rst output shaft 511 is coaxial With the ?rst
rotation unit 10. The ?rst rotation unit 10 is connected to the
robots are required to be compact to conserve ?oor space.
?rst output shaft 51 1 via the ?rst decelerator 53, therefore, the
[0005] Therefore, a robot arm addressing the limitations

described is desired.
BRIEF DESCRIPTION OF THE DRAWINGS
[0006] The components in the draWings are not necessarily

draWn to scale, the emphasis instead being placed upon
clearly illustrating the principles of the present disclosure.
Moreover, in the draWings, like reference numerals designate
corresponding parts throughout the several vieWs.
[0007]
FIG. 1 is an assembled, isometric vieW ofa robot
arm of an embodiment of the disclosure.
[0008] FIG. 2 is a cross-section of the robot arm taken along

line 11-11 of FIG. 1.
[0009] FIG. 3 is an enlarged vieW ofpart ofthe robot arm of
FIG. 2.
[0010]
FIG. 4 is an enlarged vieW ofa circled region IV of
FIG. 2.
DETAILED DESCRIPTION
[0011]
Referring to FIG. 1 and FIG. 2, an embodiment ofa
robot arm 100 is shoWn. The robot arm 100 includes a ?rst
rotation unit 1 0, a second rotation unit 20, a third rotation unit

30, and a fourth rotation unit 40 pivotally connected to each
other in that order. The robot arm 100 further comprises a ?rst
pivot unit 50 pivotally connecting the ?rst rotation unit 10

With the second rotation unit 20, a second pivot unit 60 piv
otally connecting the third rotation unit 30 With the second
rotation unit 20, and a third pivot unit 70 pivotally connecting
the fourth rotation unit 40 With the third rotation unit 30.
[0012] Referring also to FIG. 3, the ?rst rotation unit 10 is
disposed at a distal end of the robot arm 100. The ?rst rotation
unit 10 is rotatable relative to the second rotation unit 20
around an A-axis. The ?rst rotation unit 10 includes a ?rst
cavity 11 therein.
[0013] The second rotation unit 20 is rotatable relative to
the third rotation unit 30 around a B-axis. The second rotation
unit 20 includes a ?rst end 21 and a second end 22 formed at
opposite ends thereof. The second rotation unit 20 includes a
second cavity 23 therein. In the illustrated embodiment, the

B-axis is perpendicular to the A-axis. Alternatively, the
B-axis may be oblique to the A-axis.
[0014] The third rotation unit 30 is rotatable relative to the
fourth rotation unit 40 around the A-axis. The third rotation
unit 30 includes tWo ears 31, a pivoting portion 33, and a
receiving portion 35 formed betWeen the ears 31 and the
pivoting portion 33. One of the ears 31 de?nes a clip 311. The
pivoting portion 33 includes a plurality of ribs 331. In the
illustrated embodiment, four ribs 331 are symmetrically
?rst rotation unit 10 can be driven to rotate. The ?rst driver 51
is received in the second cavity 23 of the second rotation unit

20, and the ?rst output shaft 511 is received in the ?rst cavity
11 of the ?rst rotation unit 10. In the illustrated embodiment,
the ?rst decelerator 53 is a harmonic speed reducer, and the
?rst driver 51 is an electrical motor. Alternatively, the ?rst
decelerator 53 may be of another kind, such as a decelerator
using gears, and the ?rst driver 51 may be an air cylinder or a
hydraulic cylinder. The ?rst decelerator 53 is mostly received

in the ?rst cavity 11 of the ?rst rotation unit 10.
[0017] The second pivot unit 60 includes a second driver
61, a transmission mechanism 63, and a second decelerator
65. The transmission mechanism 63 is connected to the sec
ond driver 61 and the second decelerator 65 to transmit move
ment from the second driver 61 to the second decelerator 65.
The second driver 61 includes a second output shaft 611 to
connect With the transmission mechanism 63. The second
driver 61 is received in the third cavity 351 of the third

rotation unit 30, and the second output shaft 611 is received in
the ear 31 connected to the ?rst end 21 of the second rotation
unit 20. The transmission mechanism 63 is received in the ear
31 connected to the ?rst end 21 of the second rotation unit 20,
and extends parallel to the A-axis. The second output shaft

611 rotates When the second driver 61 Works. In the illustrated
embodiment, the transmission mechanism 63 includes a driv
ing Wheel 631, a folloW Wheel 633, and a connecting member
635 encircling the driving Wheel 631 and the folloW Wheel
633. The connecting member 635 may be a belt or a chain.
When the connecting member 635 is a belt, the driving Wheel

631 and the folloW Wheel 633 are belt pulleys. When the
connecting member 635 is a chain, the driving Wheel 631 and
the folloW Wheel 633 are sprocket Wheel. The second decel
erator 65 includes a spindle 651 coaxially connected With the
folloW Wheel 633 and parallel to the second output shaft 611.
[0018] The ?rst driver 51, the spindle 651 and the second
driver 61 are arranged on the same side of the connecting
member 635 of the transmission mechanism 63 . An end oppo
site to the ?rst output shaft 511 of the ?rst driver 51 protrudes
toWard the second driver 61. The driving Wheel 631 is ?xed to
the second output shaft 611, and the folloW Wheel 633 is ?xed
to the spindle 651. In the illustrated embodiment, the second
decelerator 65 is a harmonic speed reducer, and the second
driver 61 is an electrical motor. Alternatively, the second
decelerator 65 may be of another kind, such as a decelerator
using gears, and the second driver 61 may be an air cylinder or
a hydraulic cylinder.
[0019] Referring to FIG. 2 and FIG. 4, the third pivot unit
70 is coaxial With the ?rst pivot unit 50. The thirdpivot unit 70
includes a third driver 71, and a third decelerator 73 driven by
May 12,2011
US 2011/0112687 Al
the third driver 71. The third driver 71 includes a third output
shaft 711. The third output shaft 711 rotates around the A-axis
When the third driver 71 Works. The third driver 71 is received
in the fourth cavity 41 of the fourth rotation unit 40. The third
received in the third rotation unit and a transmission
mechanism disposed betWeen the second driver and the

second rotation unit;
Wherein the ?rst driver and the second driver are disposed
decelerator 73 is disposed betWeen the output shaft 711 of the

third driver 71 and the third rotation unit 30, to transmit
movement of the third driver 71 to the third rotation unit 30.
In the illustrated embodiment, the third decelerator 73 is a
harmonic speed reducer. Alternatively, the third decelerator

73 may be of another kind, such as a decelerator using gears.
[0020] In the robot arm 100, the ?rst driver 51 and the
second driver 61 can be disposed in the second cavity 23 of
the second rotation unit 20 and the third cavity 351 of the third
rotation unit 30 respectively, because the ?rst rotation unit 10
is connected With the ?rst driver 51 via the ?rst decelerator 53
and the second rotation unit 20 is connected With the second
driver 61 via the transmission mechanism 63. As such, the
?rst driver 51 and the second driver 61 avoid reception in the
same second rotation unit 20. In addition, since both the ?rst
end 21 and the second end 22 of the second rotation unit 20 are
connected to the third rotation unit 30, the second rotation
unit 20 has high stability.

[0021] Since no second pivot unit 60 is in the second end 22
of the second rotation unit 20, Wires may pass through the
second rotation unit 20 and the third rotation unit 30 and be
clasped by the clip 311. Thus, the Wires can avoid encircling
the components.
[0022] The ?rst, second, and third decelerators 53, 65, and
73 are harmonic speed reducers. Therefore, the robot arm 100
has enhanced transmission precision and loading ability, a

small volume, a high transmission ratio and high stability, and
loW noise.
[0023]
In alternative embodiments, When the ?rst driver 51,
the second driver 61 and the third driver 71 have loW rotation
speeds, the ?rst, second, and third decelerators 53, 65, and 73
may be omitted.
[0024]
Finally, While various embodiments have been
described and illustrated, the disclosure is not to be construed

as being limited thereto. Various modi?cations can be made to
the embodiments by those skilled in the art Without departing

from the true spirit and scope of the disclosure as de?ned by
the appended claims.

What is claimed is:
1. A robot arm, comprising:
a ?rst rotation unit con?gured to be disposed at a distal end
of a robot;
on the same side of the transmission mechanism, With
the ?rst end and the second end of the second rotation
unit rotatably connected to the third rotation unit respec
tively.
2. The robot arm of claim 1, Wherein the ?rst pivot unit
further comprises a ?rst decelerator connecting the ?rst driver
With the ?rst rotation unit; and the second pivot unit further
comprises a second decelerator connecting the transmission
mechanism With the second rotation unit.
3. The robot arm of claim 2, Wherein the ?rst axis is sub
stantially perpendicular to the second axis; and a rotation axis
of the second driver is parallel to a rotation axis of the second
decelerator.
4. The robot arm of claim 2, Wherein the ?rst decelerator
and the second decelerator are harmonic speed reducers.
5. The robot arm of claim 2, further comprising a fourth
rotation unit and a third pivot unit, Wherein the third pivot unit
rotatably connects the fourth rotation unit With the third rota
tion unit.
6. The robot arm of claim 5, Wherein the third pivot unit
comprises a third driver and a third decelerator connecting the
third driver With the third rotation unit; the third driver
received in the fourth rotation unit.
7. The robot arm of claim 6, Wherein the third decelerator
is a harmonic speed reducer.
8. The robot arm of claim 6, Wherein the ?rst decelerator
and the third decelerator are coaxial With each other.
9. The robot arm of claim 6, Wherein the second rotation
unit further comprises a ?rst cavity receiving the ?rst driver,

the third rotation unit further comprises a second cavity
receiving the second driver, and the fourth rotation unit fur
ther comprises a third cavity receiving the third driver.
10. The robot arm of claim 9, Wherein the ?rst rotation unit
further comprises a fourth cavity receiving the ?rst decelera
tor.
1 1. The robot arm of claim 6, Wherein the third rotation unit

comprises tWo ears at an end thereof, and the ?rst and second
ends of the second rotation unit are rotatably connected to the
ears of the third rotation unit respectively.
12. The robot arm of claim 11, Wherein the second pivot
unit is disposed betWeen the ?rst end of the second rotation
a third rotation unit;
unit and one of the ears of the third rotation unit.

13. The robot arm of claim 12, Wherein the third rotation
unit further comprises a Wire clip formed on the other ear.
14. The robot arm of claim 2, Wherein the transmission
a ?rst pivot unit pivotally connecting the second rotation
mechanism comprises a driving Wheel, a folloW Wheel, and a
a second rotation unit comprising a ?rst end and a second
end;
unit With the ?rst rotation unit around a ?rst axis, the ?rst
pivot unit comprising a ?rst driver received in the second
rotation unit; and

a second pivot unit pivotally connecting the third rotation
unit With the second rotation unit around a second axis,
the second pivot unit comprising a second driver
connecting member encircling the driving Wheel and the fol

loW Wheel; the driving Wheel is connected to the second
driver, and the folloW Wheel is connected to the second
decelerator.

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US 20110112687A1

(19) United States

(43) Pub. Date:

BO LONG, ShenZhen City (CN)

May 12, 2011

US. Cl. ......................................... .. 700/264; 901/27

HONG FU JIN PRECISION

INDUSTRY (shelizhen) CO'

A robot arm includes a ?rst rotation unit, a second rotation

LTD., ShenZhen City (CN); HON

HAI PRECISION INDUSTRY

CO" LTD" Tu'C eng (TW)

umt avmg a rst en an a secon en 3 at 1r rotation umt,

(21) APP1- NOJ

driver received in the second rotation unit. The second pivot

Foreign Application Priority Data

Nov. 10, 2009

(CN) ...................... .. 200910309513.X

tion unit respectively.

Patent Application Publication

May 12, 2011 Sheet 1 0f 4

Patent Application Publication

May 12, 2011 Sheet 2 0f 4

Patent Application Publication

May 12, 2011 Sheet 3 0f 4

Patent Application Publication

May 12, 2011 Sheet 4 0f 4

and particularly, to an arm applied in a robot.

May 12, 2011

formed on an outer surface of the pivoting portions 33. The

receiving portion 35 includes a third cavity 351 and a plurality

otally connected in sequence. Each arm portion can rotate

a robot (not shoWn).

Performance parameters such as precision, loading ability,

a ?rst decelerator 53 driven by the ?rst driver 51. The ?rst

robots are required to be compact to conserve ?oor space.

[0005] Therefore, a robot arm addressing the limitations

[0006] The components in the draWings are not necessarily

FIG. 1 is an assembled, isometric vieW ofa robot

arm of an embodiment of the disclosure.

[0008] FIG. 2 is a cross-section of the robot arm taken along

FIG. 4 is an enlarged vieW ofa circled region IV of

Referring to FIG. 1 and FIG. 2, an embodiment ofa

rotation unit 1 0, a second rotation unit 20, a third rotation unit

pivot unit 50 pivotally connecting the ?rst rotation unit 10

second cavity 23 therein. In the illustrated embodiment, the

?rst rotation unit 10 can be driven to rotate. The ?rst driver 51

is received in the second cavity 23 of the second rotation unit

hydraulic cylinder. The ?rst decelerator 53 is mostly received

driver 61 is received in the third cavity 351 of the third

and extends parallel to the A-axis. The second output shaft

When the connecting member 635 is a belt, the driving Wheel

received in the third rotation unit and a transmission

mechanism disposed betWeen the second driver and the

decelerator 73 is disposed betWeen the output shaft 711 of the

harmonic speed reducer. Alternatively, the third decelerator

unit 20 has high stability.

has enhanced transmission precision and loading ability, a