Composite-Joint Counterbalance Mechanism for Lower Robot Joint Weight
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Solution Overview
Problem
Existing counterbalance systems for robotic joints, particularly those involving revolute and composite joints, are inefficient, require significant space, increase weight, and lack flexibility, especially when dealing with gravitational forces.
Innovation Solution
A counterbalance device utilizing a force output mechanism and a pulling mechanism to provide a constant output force, simultaneously counterbalancing both translatable and rotatable members of composite joints, reducing system weight and size while maintaining smooth operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If separate counterbalance mechanisms are used for translational and rotational joints, then each joint can be counterbalanced independently, but the system weight and size increase significantly
Solution Approach 1:
The patent combines separate counterbalance mechanisms for translational and rotational joints into a single integrated counterbalance device. The force output mechanism generates a unified force that is distributed through a distribution mechanism to simultaneously counterbalance both the translational movable member and the rotational movable member, thereby reducing overall system weight while maintaining counterbalance effectiveness for both joint types.
Solution Approach 2:
The integrated counterbalance device performs multiple functions simultaneously: it counterbalances both translational and rotational joints using a single force output mechanism. The distribution mechanism enables one force source to serve multiple counterbalance purposes, making the system more efficient and reducing the need for redundant components.
2Reliability
If separate counterbalance mechanisms are used for translational and rotational joints, then each joint can be counterbalanced independently, but the system size and complexity increase
Solution Approach 1:
The patent merges separate counterbalance mechanisms into a single integrated device that handles both translational and rotational joints. This consolidation reduces the number of independent mechanisms, simplifies system architecture, and decreases overall device complexity while maintaining the ability to counterbalance both joint types effectively.
Solution Approach 2:
The single counterbalance device is designed with multi-functionality to handle both translational and rotational joints through its distribution mechanism. This universal approach eliminates the need for separate specialized mechanisms, thereby reducing system complexity while preserving counterbalance effectiveness across different joint types.
3Reliability
If traditional counterbalance systems are used, then gravitational forces can be counterbalanced, but significant space is required for the mechanisms
Solution Approach 1:
The patent integrates counterbalance functions for multiple joints into a single compact device, significantly reducing the volume required compared to traditional separate mechanisms. The shared force output mechanism and distribution system occupy less space while maintaining the ability to counterbalance gravitational forces on both translational and rotational joints.
Data Source
AI summary
A counterbalance device for an apparatus with composite joints is provided. The apparatus includes a frame, a first movable member translatable relative to the frame in a first direction, and a second movable member rotatable relative to the first movable member about a first axis. The counterbalance device includes: a force output mechanism configured to provide an output force; a distribution mechanism connected to the force output mechanism, to allow the force output mechanism to apply the output force to the distribution mechanism; and a pulling mechanism connected to the distribution mechanism, to allow the pulling mechanism to act on the distribution mechanism. The pulling mechanism is connected to and translatable relative to the first movable member in the first direction. The pulling mechanism is further connected to the second movable member, and is translatable in the first direction with rotation of the second movable member about the first axis.