Biaxial Joint Module for Modular Robot Arms
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Solution Overview
Problem
Conventional multi-joint modular robot arms have limited flexibility due to single-axis rotation of each joint module and high manufacturing costs, with existing solutions like harmonic gears and worm assemblies being inflexible and costly to customize.
Innovation Solution
A joint module design featuring a base with a central axis, parallel motion and linear driving mechanisms, and a driving motor assembly with adjustable reduction ratio, enabling biaxial spherical rotating movement and high rigidity, using stepper motors and wheel transmitting assemblies to reduce costs and enhance customization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional single-axis rotating drivers with harmonic gears or worm assemblies are used, then each joint module can be manufactured with standard components, but the end movement path of the robot arm is not flexible enough and customization of reduction ratio and torque speed is difficult
Solution Approach 1:
The patent merges two single-axis rotating drivers into a single joint module that achieves biaxial spherical rotating movement. The motion element combines two rotating mechanisms with different rotating axes, allowing the joint module to provide both first and second rotating movements simultaneously, thereby improving movement path flexibility while maintaining reasonable structural complexity
Solution Approach 2:
The joint module is designed as a multi-functional unit that can perform biaxial spherical rotating movements, replacing multiple single-axis joint modules. This universal design allows the robot arm to achieve complex movement paths with fewer components, and the modular structure enables easy customization of reduction ratios and torque speeds
2Measurement precision
If harmonic gears are used in each rotating driver, then precise rotation control is achieved, but the manufacturing cost of each rotating driver becomes high
Solution Approach 1:
The patent extracts the precision transmission function from expensive harmonic gears and implements it through alternative mechanisms. The motion element uses connecting rods, rotating mechanisms, and transmission mechanisms (such as gear assemblies or belt transmissions) to achieve precise biaxial spherical rotating movements without requiring harmonic gears, thereby reducing manufacturing cost while maintaining rotation control precision
Solution Approach 2:
The patent replaces expensive harmonic gears with cheaper transmission mechanisms such as gear assemblies, belt transmissions, or screw transmissions. These alternative mechanisms achieve the required precision at lower cost and can be easily replaced or customized, making the joint module more cost-effective
3Reliability
If worm assemblies and worm wheels are used in rotating drivers, then self-locking and torque transmission are achieved, but the reduction ratio and torque speed cannot be easily customized
Solution Approach 1:
The patent implements a dynamic and adjustable transmission system where the reduction ratio can be customized according to different application requirements. The motion element uses interchangeable transmission mechanisms (such as different gear ratios, belt transmissions, or screw transmissions) that allow flexible adjustment of reduction ratios and torque speeds while maintaining reliable torque transmission through proper mechanical design
Solution Approach 2:
The patent enables customization of reduction ratio and torque speed by changing transmission parameters. The motion element incorporates adjustable transmission mechanisms where parameters such as gear ratios, pulley diameters, or screw pitch can be modified to achieve different reduction ratios and torque speeds, providing versatility while maintaining reliable torque transmission
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 joint module achieves flexible biaxial spherical movement with high rigidity and adjustable reduction ratio, reducing manufacturing costs and improving the practicality of multi-joint modular robot arms, allowing for efficient energy application and easy customization.
Implementation Method 1
The screw linear driving assembly has a screw and a barrel. The screw is connected to the linear moving member. The linear moving member is driven by the screw to reciprocate along the central axis
Implementation Method 2
The transmission has a first wheel transmitting assembly and a second wheel transmitting assembly. The first wheel transmitting assembly is connected to the first output rod of the driving motor assembly and the first linear driving assembly
Data Source
AI summary
A joint module has a base, a motion mechanism, a linear driving mechanism, a driving motor assembly, and a transmission. The motion mechanism, the linear driving mechanism, and the driving motor assembly are disposed on the base. The transmission is disposed between the linear driving mechanism and the driving motor assembly. A first transmitting assembly and a second transmitting assembly of the motion mechanism are disposed on the base in parallel. A first linear driving assembly and a second linear driving assembly of the linear driving mechanism are non-coaxial and are disposed on the base in parallel. A first wheel transmitting assembly of the transmission is connected to the driving motor assembly and the first linear driving assembly. A second wheel transmitting assembly of the transmission is connected to the driving motor assembly and the second linear driving assembly.