Bi-spin Industrial Robot Internal Rotation Mechanism

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Solution Overview

Problem

Traditional 6-DOF industrial robots are inefficient in terms of space usage and energy consumption, particularly due to their large size and weight, which limits their operation speed and flexibility, and they are not suitable for applications requiring quick movement in small spaces.

Innovation Solution

The bi-spin robot design features a unique structure with an upper arm, a lower arm, and a wrist that allows for both external and internal rotation, reducing the required space and inertia, and utilizing a bevel gear set and arm wire jacket to optimize movement efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If traditional 6-DOF robot structure is used with horizontal motor installation, then the robot can achieve standard 6-DOF movement functions, but the arm volume increases depending on motor length, resulting in heavy manipulator weight

Engineering Contradiction:

Improve6-DOF movement functionVSAvoidmanipulator weight

Core Design Contradiction:

Adaptability or versatilityVSWeight of moving object

Solution Approach 1:

The patent changes the motor installation dimension from horizontal to vertical orientation. The fifth motor is installed vertically on the wrist rather than horizontally on the upper arm, which reduces the arm volume dependency on motor length and decreases manipulator weight while maintaining 6-DOF functionality

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

Solution Approach 2:

The patent nests the fifth motor within the wrist structure rather than having it as a separate external component on the upper arm. This integration reduces overall arm volume and weight while preserving the necessary rotational functions

Inventive Principle:

Principle #7Nested doll (Nesting)

2Force

If the fifth motor is directly connected to the wrist with large weight, then the motor can provide sufficient torque, but the rotational inertia becomes very large, consuming excessive energy

Engineering Contradiction:

Improvemotor torqueVSAvoidenergy consumption

Core Design Contradiction:

ForceVSUse of energy by moving object

Solution Approach 1:

The patent replaces the direct mechanical connection with a belt transmission system. The fifth motor connects to the wrist through a belt rather than direct mechanical coupling, which reduces the moment of inertia and energy consumption while maintaining sufficient torque through the belt drive mechanism

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Adaptability or versatility

If traditional external rotation function is used where the upper arm rotates about one axis, then the robot can achieve standard rotation, but the end effector follows an arc trajectory requiring additional avoidance space

Engineering Contradiction:

Improverotation functionVSAvoidavoidance space

Core Design Contradiction:

Adaptability or versatilityVSArea of stationary object

Solution Approach 1:

The patent inverts the rotation mechanism by adding an internal rotation function where the lower arm can rotate within the upper arm's clearance space. This internal rotation allows the end effector to move in a straight line rather than an arc, eliminating the need for additional avoidance space

Inventive Principle:

Principle #13The other way round (Inversion)

4Area of moving object

If the robot structure is designed for quick movement in small spaces, then the operation space requirement is reduced, but the traditional 6-DOF robot structure cannot achieve this without additional avoidance space

Engineering Contradiction:

Improveoperation spaceVSAvoidmovement flexibility

Core Design Contradiction:

Area of moving objectVSAdaptability or versatility

Solution Approach 1:

The patent segments the rotation functions into two independent components: external rotation of the upper arm and internal rotation of the lower arm. This segmentation allows the lower arm to rotate within the upper arm's clearance space, enabling quick movement in small spaces without requiring additional avoidance space

Inventive Principle:

Principle #1Segmentation

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

The bi-spin robot achieves faster operation speeds, reduced energy consumption, and increased flexibility by enabling internal rotation without occupying additional space, thus addressing the limitations of traditional 6-DOF robots.

Implementation Method 1

the output axis of the fifth motor is connected to the wrist through a bevel gear set and the bevel gear set comprises the first bevel gear connected to the output axis of the fifth motor. The second bevel gear connects to the wrist and the first bevel gear connects to the second bevel gear

Methodology Applied

Scientific EffectGear mechanism: Gear

Data Source

PatentUS10456909B2Multi-joint industrial robot-Bispir

Publication Date: 2019.10.29 FOSHAN HUASHU ROBOTICS CO LTD

AI summary

A bi-spin multi joint robot comprises an upper arm, a lower arm protruding forward and a wrist. The lower arm, which connects to the upper arm, is located at the right side of the upper arm. The wrist, which connects to the lower arm, is located at the right side of the tail end of the lower arm. In detail, the lower arm not only connects to the upper arm through the first transverse spindle but also connects to the wrist through the second transverse spindle. The upper arm is provided with a clearance space at the right side in order to enable the lower arm to rotate around the first transverse spindle in the clearance space, the first transverse spindle is assembled at the tail end of the upper arm, and the second transverse spindle is assembled at the tail end of the lower arm.