Action Robot Seesaw Lever Actuation Mechanism
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Solution Overview
Problem
Existing action robots require a large number of lifters to rotate multiple joints, which increases the size and material costs, and limits the compactness and efficiency of the robot design.
Innovation Solution
The action robot employs a revolution mechanism with a smaller number of lifters that can raise multiple rods, utilizing a rotation plate, fixed and moving gears, and a rotation motor to pivot the lifters and rods, allowing for efficient joint movement with reduced hardware.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a large number of lifters are used to rotate multiple joints, then the robot can achieve full joint movement, but the size and material costs increase
Solution Approach 1:
A single lifter is designed to perform multiple functions by sequentially raising different rods at different times. The lifter works in conjunction with a revolution mechanism that positions it to engage with various rods corresponding to different joints, allowing one lifter to control multiple joints through time-multiplexed operation
Solution Approach 2:
The revolution mechanism pre-positions the single lifter to the correct angular location before it raises each rod. The control system determines the sequence in which joints need to be actuated and rotates the lifter to the appropriate position in advance, enabling coordinated multi-joint movement with a single actuator
2Adaptability or versatility
If a large number of lifters are used to rotate multiple joints, then all joints can be actuated independently, but the robot design becomes less compact and efficient
Solution Approach 1:
The single lifter serves as a universal actuator for multiple joints by being rotated to different angular positions where it can engage with different rods. This multi-functional design eliminates the need for multiple separate lifters, significantly reducing the volume required for the actuation system
Solution Approach 2:
Instead of having multiple lifters arranged in a two-dimensional plane, the invention uses a single lifter that operates in a three-dimensional space by rotating around a vertical axis. This adds the angular dimension to the lifter's workspace, allowing it to access multiple rods at different angular positions without increasing the radial footprint
3Manufacturing precision
If multiple lifters are used, then each joint can be controlled precisely, but material costs and device complexity increase
Solution Approach 1:
The single lifter maintains precise control capability by being equipped with a precise positioning mechanism (revolution mechanism with gears) that can accurately rotate it to the correct angular position for each rod. The precision is maintained through the mechanical indexing system rather than through having multiple independent actuators
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This design allows for compact and cost-effective action robots with enhanced mobility and reduced material usage, enabling a wider range of motion while maintaining a smaller footprint.
Implementation Method 1
a plurality of seesaw levers configured to be embedded in the figure base, the plurality of seesaw levers being configured to be disposed to be long in a radial direction of the figure base
Implementation Method 2
a revolution mechanism configured to revolve the lifter about a virtual vertical axis passing through a center of the figure base
Data Source
AI summary
An action robot according to an embodiment of the present disclosure may include a figure configured to have a plurality of joints, a figure base configured to support the figure from below, a plurality of seesaw levers configured to be embedded in the figure base, the plurality of seesaw levers being configured to be disposed to be long in a radial direction of the figure base, the plurality of seesaw levers being configured to be spaced apart from each other in a circumferential direction of the figure base, a wire configured to be connected to an inner end portion of the seesaw lever to pivot the joint, a plurality of rods configured to be disposed vertically, the plurality of rods being configured to press an outer end portion of the seesaw lever upward, at least one lifter configured to raise the rod, and a revolution mechanism configured to revolve the lifter about a virtual vertical axis passing through a center of the figure base. The number of the lifters may be less than the number of rods.