Double-Arm Working Head with Split Linear-Rotary Motion Control
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Solution Overview
Problem
Existing articulated robot working devices with six degrees of freedom face challenges in performing fine, high-speed work due to the need for cooperative motor driving, increased movement ranges, and potential collisions, leading to wide operational spaces and reduced efficiency, making them difficult to operate without specialized knowledge and increasing costs.
Innovation Solution
A working device configuration with a linear motion unit having three degrees of freedom and a rotary unit with three degrees of freedom, where the linear motion unit determines end effector positions and the rotary unit determines posture, allowing for independent operation of end effectors suited for different tasks, reducing the operation amount, and enabling high-speed, accurate movements with a compact design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If six rotational mechanisms are combined to achieve six degrees of freedom, then the working device can perform various movements, but the operation amount increases and fine high-speed work cannot be performed
Solution Approach 1:
The patent divides the six degrees of freedom into two independent units: a linear motion unit with three degrees of freedom and a rotary unit with three degrees of freedom. This segmentation allows each unit to be optimized for its specific function, enabling high-speed linear positioning while maintaining versatile rotational capabilities, thus resolving the contradiction between range of movement and operation speed.
2Adaptability or versatility
If the range of movement is increased to avoid contact with objects, then the working device can operate more freely, but the occupation area becomes wider
Solution Approach 1:
The patent introduces linear motion degrees of freedom in addition to rotational degrees of freedom, effectively adding a new dimension of movement capability. This allows the end effector to reach various positions and postures within a compact base footprint, increasing range of movement without proportionally increasing the occupation area.
3Manufacturing precision
If multiple motors are driven cooperatively to change end effector posture, then the working device can achieve precise positioning, but fine work cannot be performed at high speed
Solution Approach 1:
The patent segments the control system into two independent units: the linear motion unit for high-speed positioning and the rotary unit for precise posture control. This segmentation allows the linear motion actuators to operate at high speed for positioning while the rotary mechanisms provide precise angular control, enabling both high speed and precision simultaneously.
4Reliability
If contact prevention functions are enhanced to ensure safety, then the working device can coexist with persons, but the device becomes expensive
Solution Approach 1:
The patent designs the working device with inherent safety features through its compact structure and controlled motion ranges. The linear motion unit with defined travel limits and the rotary unit with controlled rotation ranges provide inherent boundary constraints that prevent unintended contact, reducing the need for additional expensive safety systems while maintaining reliability.
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3B
AI summary
A working device (1) includes: a linear motion unit (3) having three degrees of freedom and obtained by combining three linear motion actuators (11, 12, 13); and a rotary unit (4) having three degrees of freedom and obtained by combining a plurality of rotating mechanisms (21, 22, 23) each having one or more rotational degrees of freedom. The linear motion unit (3) is mounted on a mount (2) such that a base portion of the linear motion unit (3) is fixed to the mount (2). A base portion of the rotary unit (4) is fixedly mounted on an output portion (13a) of the linear motion unit (3). End effectors (5A, 5B) are mounted on both the output portion (13a) of the linear motion unit (3) and an output portion (23a) of the rotary unit (4).