Biaxial Robot Joint Coupling via Flange and Through-Hole
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Solution Overview
Problem
Robots with joint parts coupled at orthogonal axial directions face challenges in achieving high coupling strength and accuracy, leading to potential instability and inefficiency in operation.
Innovation Solution
The design incorporates biaxial joint units with motors, reduction gears, and annular flange parts for precise coupling, allowing for increased strength and accuracy while enabling the routing of wiring and piping, and reducing the weight and load on the robot's base end.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If two joint parts are coupled with high strength and accuracy to achieve orthogonal axial directions of rotation, then the coupling strength and accuracy are improved, but the device complexity increases
Solution Approach 1:
The coupling structure is divided into separate components: a flange part on one joint part and a through-hole in the other joint part. This segmentation allows for simplified manufacturing of each component while achieving precise coupling when assembled, resolving the contradiction between coupling accuracy and device complexity.
Solution Approach 2:
The flange part is inserted through the through-hole and nested within the case structure. This nesting arrangement enables compact integration of the coupling mechanism while maintaining high coupling accuracy through the precise fit between the flange and the through-hole, without significantly increasing overall device complexity.
2Strength
If two joint parts are coupled with high strength and accuracy, then the coupling strength and accuracy are improved, but the weight of the robot increases
Solution Approach 1:
The flange part is designed as a thin, annular structure that provides sufficient coupling strength through its geometric shape and material distribution, rather than using a bulky heavy component. This thin-film approach maintains high coupling strength while minimizing the weight addition to the robot.
Solution Approach 2:
The coupling is achieved through a through-hole that penetrates the case in the axial direction, allowing the flange part to be positioned in a different spatial dimension. This dimensional arrangement enables strong coupling without requiring additional radial thickness or volumetric mass, thus avoiding weight increase.
3Volume of moving object
If joint parts are coupled in a compact configuration, then packaging and transportation costs are reduced, but the coupling strength and accuracy become difficult to maintain
Solution Approach 1:
The flange part extends in the radial direction while the through-hole extends in the axial direction, creating a three-dimensional coupling arrangement. This spatial arrangement allows for compact overall volume while maintaining precise coupling accuracy through the through-hole's axial penetration and the flange's radial positioning.
Solution Approach 2:
The flange part acts as an intermediary element between the two joint parts, providing a precise coupling interface. This intermediary structure enables accurate alignment and strong coupling even in compact configurations, as the flange mediates the connection between the through-hole and the external environment.
Data Source
AI summary
Provided is a robot equipped with two joint parts attached to an end of an arm in a coupled state. For example, in a joint part of a robot, a motor and a reduction gear are housed in a case, and an output-side member having a flange is fixed to the output shaft of the reduction gear. An opening that opens in the direction orthogonal to the axial direction of the output shaft of the reduction gear is formed in the case. A planar attachment face orthogonal to the opening direction of the opening is formed in the opening. The robot is provided with a plurality of biaxial joint units comprising two joint parts. In the robot, the attachment face of the case of one joint part constituting a biaxial joint unit is fixed to the flange of the other joint part either directly or via a coupling member.