Bent Arm Robot Overlapping Axes Reduce Interference
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Solution Overview
Problem
Conventional robots requiring large spaces to move their end effector 180 degrees around a first rotation axis suffer from interference issues, limiting their operational efficiency and flexibility.
Innovation Solution
The robot design incorporates a first arm and a second arm with overlapping configurations, allowing the second arm to rotate 180 degrees around the first arm without requiring additional space, achieved through a unique arrangement of rotation axes and structural elements that reduce interference and enhance rigidity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the robot uses a conventional arm configuration to move the end effector 180 degrees around the first rotation axis, then the robot can perform the required movement, but the robot requires a large space to prevent interference
Solution Approach 1:
The patent applies nesting by positioning the second arm such that it can overlap with the first arm when viewed from the axial direction of the second rotation axis. This allows the second arm to rotate 180 degrees around the first arm without requiring additional space, as the arms nest within each other's spatial envelope during the rotation movement.
Solution Approach 2:
The patent utilizes dimensional change by introducing a second rotation axis that is orthogonal to the first rotation axis. This allows the end effector to achieve 180-degree movement around the first rotation axis through rotation about the second arm, effectively using a different dimensional path to accomplish the same spatial transformation while reducing the required operation space.
2Reliability
If the robot uses a bent first arm configuration, then the rigidity of the first arm increases and operation is stabilized, but the arm structure becomes more complex
Solution Approach 1:
The patent applies segmentation by dividing the first arm into multiple parts (first part, second part, and third part) with different orientations. The first part extends in a first direction, the second part extends in a second direction different from the first, and the third part extends in a third direction different from both. This segmented configuration increases rigidity while maintaining manageable structural complexity through modular design.
Data Source
AI summary
A robot includes: a base; a first arm provided on the base rotatably about a first rotation axis; and a second arm provided on the first arm rotatably about a second rotation axis that is a different axial direction from an axial direction of the first rotation axis. The first arm and the second arm can overlap with each other, as viewed from the axial direction of the second rotation axis. The first arm is bent.