Branched Axis Drive Assembly for Compact Low-Backlash Industrial Robots
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Solution Overview
Problem
Existing industrial robots face challenges in achieving high positioning accuracy and low backlash while efficiently utilizing installation space for media, data, and power lines, particularly in dynamic operations.
Innovation Solution
The industrial robot is designed with a translational or rotational axis that incorporates a toothing output element and an axis drive assembly with a branching stage that distributes rotational movement to multiple gear trains, utilizing a serpentine drive and planetary gears to ensure high positioning accuracy and low backlash, while allowing for efficient routing of media, data, and power lines.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single drive motor is used per axis, then the device complexity is reduced, but the positioning accuracy and backlash performance deteriorate
Solution Approach 1:
The drive system is segmented into multiple independent drive motors (first and second drive motors) that independently drive separate pinions. Each pinion meshes with the output element, creating parallel drive paths that improve positioning accuracy and reduce backlash through distributed actuation while maintaining manageable system complexity.
2Measurement precision
If multiple pinions are used to mesh with the output element, then positioning accuracy improves, but the installation space requirement increases
Solution Approach 1:
The multiple pinions are arranged in a spatial distribution around the output element rather than in a linear sequence. This three-dimensional arrangement allows multiple drive units to mesh with the output element simultaneously while occupying a compact radial space, thereby achieving high positioning accuracy without proportionally increasing the installation footprint.
3Ease of operation
If drive motors are centralized, then the device complexity is reduced, but the routing of media, data and power lines becomes difficult
Solution Approach 1:
The drive motors are extracted from a centralized location and distributed to individual positions where their respective pinions mesh with the output element. This decentralized arrangement extracts the routing constraints from the system design, allowing media, data, and power lines to be routed directly to each drive motor along the mechanical pathways, thereby improving routing efficiency while accepting increased drive system configuration complexity.
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 achieves high positioning accuracy, low backlash, and efficient use of installation space, enabling dynamic operation without obstructing hydraulic, pneumatic, electrical, or signal-carrying lines, and allows for decentralized arrangement of drive motors and control systems.
Implementation Method 1
at least two pinions driven by means of the drive motor mesh with the output element
Implementation Method 2
Each gear train has a pinion that rolls off the output element when the axis drive assembly is in operation
Data Source
AI summary
An industrial robot has at least one translational or rotational axis, having an output element that has a toothing and at least one axis drive assembly that is associated with the translational or rotational axis and that meshes with the output element. The axis drive assembly has a drive motor and at least one transmission arranged downstream of the drive motor. In the case of a translational axis, the output element is a toothed rod. In the case of a rotational axis, the output element is a spur gear with an outer toothing. In addition, the transmission has at least one branching stage that distributes the rotational movement of the motor shaft of the drive motor to at least two gear trains, such that at least two pinions driven by means of the drive motor mesh with the output element.