# US 10,870,227 B2 · Manufacturing apparatus for robot arm

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- Number: US 10,870,227 B2
- Document ID: US10870227B2
- Status: Granted
- Kind: B2
- Application number: 16/591,860
- Filed: 2019-10-03
- Published: 2020-06-04
- Granted: 2020-12-22
- Earliest claimed: 2018-11-29
- Assignees: Fanuc Corporation
- Applicants: Fanuc Corporation
- Inventors: Kazutaka Nakayama
- Web page: https://patentgrep.com/patent/US10870227B2

## CPC

- B29C 45/14065: {Positioning or centering articles in the mould}
- B22D 19/00: Casting in, on, or around objects which form part of the product (B22D23/04 takes precedence; alumino-thermic welding B23K23/00; coating by casting molten material on the substrate C23C6/00)
- B25J 18/00: Arms
- B25J 19/007: {Means or methods for designing or fabricating manipulators}
- B29C 45/14336: {Coating a portion of the article, e.g. the edge of the article (B29C45/14573 and B29C45/14598 take precedence)}
- B29C 45/14598: {Coating tubular articles}
- B29C 45/14614: {Joining tubular articles}
- B29C 33/308: {Adjustable moulds (for injection moulding B29C45/376)}
- B29C 45/1671: {with an insert}
- B29C: SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING (making preforms B29B11/00; making laminated products by combining previously unconnected layers which become one product whose layers will remain together B32B37/00 - B32B41/00)
- B22D: CASTING OF METALS; CASTING OF OTHER SUBSTANCES BY THE SAME PROCESSES OR DEVICES (shaping of plastics or substances in a plastic state B29C; metallurgical processing, selection of substances to be added to metal C21, C22)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A manufacturing apparatus includes an arm main body with a long tubular or columnar shape having a uniform lateral cross-section, and attachment interface parts fixed to both sides of the arm main body and attached to another member. The apparatus includes: a pair of fixing parts supporting a part of each of the attachment interface parts and each end of the arm main body and each including a material filling space at least near a joint part between each of the attachment interface parts and the arm main body; a slide mechanism capable of adjusting a distance between the two fixing parts along a longitudinal axis of the arm main body by moving at least one of the fixing parts; and a material injection part injecting a molten material into the space so as to joint each of the attachment interface parts to each end of the arm main body.

## Claims

### Claim 1

A manufacturing apparatus for a robot arm including an arm main body with a long tubular or columnar shape having a uniform lateral cross-section, and attachment interface parts that are fixed to both sides of the arm main body and are attached to another member, the manufacturing apparatus comprising:
a pair of fixing parts supporting at least a part of each of the attachment interface parts and each end of the arm main body in a positioned state and each including a space at least near a joint part between each of the attachment interface parts and the arm main body;
a slide mechanism capable of adjusting a distance between the two fixing parts along a longitudinal axis of the arm main body by moving at least one of the fixing parts; and
a material injection part that injects a molten material into at least a part of the space so as to integrally joint each of the attachment interface parts to each end of the arm main body,
wherein a material filling space, which is filled with the molten material, of the space has:
at least part of a first end proximate the arm main body, the first end having a cross sectional shape conforming to a cross sectional shape of the arm main body; and
at least a part of a second end proximate one of the attachment interface parts, the second end having a shape conforming to an outer peripheral surface of one of the attachment interface parts, and
wherein the material filling space has a hollow between at least the part of the first end and at least the part of the second end.

### Claim 2

A manufacturing apparatus for a robot arm including an arm main body with a long tubular or columnar shape having a uniform lateral cross-section, and attachment interface parts that are fixed to both sides of the arm main body and are attached to another member, the manufacturing apparatus comprising:
a pair of fixing parts each including a space for molding each of the attachment interface parts and capable of supporting each end of the arm main body in a positioned state at a position of blocking the space;
a slide mechanism capable of adjusting a distance between the two fixing parts by moving at least one of the fixing parts; and
a material injection part that injects a molten material into at least a part of the space so as to mold each of the attachment interface parts and integrally joint each end of the arm main body to each of the molded attachment interface parts,
wherein a material filling space, which is filled with the molten material, of the space has:
at least part of a first end proximate the arm main body, the first end having a cross sectional shape conforming to a cross sectional shape of the arm main body; and
at least a part of a second end proximate one of the attachment interface parts, the second end having a shape conforming to an outer peripherical surface of one of the attachment interface parts, and
wherein the material filling space has a hollow between at least the part of the first end and at least the part of the second end.

### Claim 3 (depends on 1)

The manufacturing apparatus for a robot arm according to claim 1, wherein
the arm main body and the attachment interface parts each have an outer surface at least a part of which is formed of resin, and
the molten material is resin.

### Claim 4 (depends on 1)

The manufacturing apparatus for a robot arm according to claim 1, wherein the molten material is metal.

### Claim 5 (depends on 4)

The manufacturing apparatus for a robot arm according to claim 4, wherein the arm main body and the attachment interface parts are formed of metal.