Dual-Rocker Robot Arm for Drive Torque Distribution
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Solution Overview
Problem
Existing robot arms lack efficient mechanisms to improve their dynamic properties, particularly in terms of drive energy distribution and load torque absorption, which affects their precision and functionality.
Innovation Solution
A robot arm design featuring two structurally independent rocker link rods, each connected to a common drive unit that distributes drive energy and absorbs load torques, allowing for improved dynamic properties and precision through separate yet synchronized movement of the arm extension relative to the carousel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a single rocker arm is used to connect the carousel and arm extension, then the structure is simpler, but the dynamic properties and precision are limited
Solution Approach 1:
The rocker arm is divided into two independent rocker link rods (first and second rocker link rods), each capable of independent movement. This segmentation allows the system to achieve better dynamic properties and precision by distributing the motion control across multiple independent elements, while each element maintains a relatively simple structure.
2Power
If drive energy is supplied to a single rocker arm, then the drive system is simpler, but the distribution of drive energy and absorption of load torques is less efficient
Solution Approach 1:
The drive energy supplied by the common drive unit is distributed to two separate rocker link rods, allowing for more efficient power distribution and load torque absorption. Each rocker link rod receives and processes drive energy independently, improving the overall power handling capability.
Solution Approach 2:
A common drive unit is used to supply drive energy to both rocker link rods, combining the drive function while allowing independent actuation of each rod. This merging approach simplifies the drive system architecture while maintaining the benefits of dual rod configuration.
3Manufacturing precision
If the rocker arm structure is modified to improve precision, then the precision is enhanced, but the existing bearing arrangements must be changed
Solution Approach 1:
The rocker arm is segmented into two independent rocker link rods, each with its own bearing arrangements (first base bearing and second base bearing for mounting on carousel, first end bearing and second end bearing for mounting arm extension). This segmentation allows precision improvement while maintaining compatibility with existing bearing arrangements, as each rod can be independently optimized.
Data Source
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AI summary
The invention relates to a robot arm (1) comprising: a plurality of configuration joints (3) which determine the configuration of the robot arm (1); a base stand (2); a carousel (4) which is mounted on the base stand (2) so as to be rotatable about a first axis of rotation (D1) by means of a first joint (3.1) of the configuration joints (3); a rocker (5) which is mounted on the carousel (4) so as to be pivotable about a second axis of rotation (D2) by means of a second joint (3.2) of the configuration joints (3); and an arm boom (6) which is mounted on the rocker (5) so as to be pivotable about a third axis of rotation (D3) by means of a third joint (3.3) of the configuration joints (3), wherein: the rocker (5) has two mechanically separate rocker coupling rods (5.1, 5.2) designed for positioning the third joint (3.3) in the working space of the robot arm (1); the first rocker coupling rod (5.1) is pivotably mounted on the carousel (4) by means of a first base bearing (7.1) and the arm boom (6) is mounted on the first rocker coupling rod (5.1) by means of a first top bearing (8.1); the second rocker coupling rod (5.2) is pivotably mounted on the carousel (4) by means of a second base bearing (7.2) and the arm boom (6) is mounted on the second rocker coupling rod (5.2) by means of a second top bearing (8.2); the two rocker coupling rods (5.1, 5.2) are pivotably driven by a common drive device (9) of the robot arm (1), which common drive device (9) divides among the two rocker coupling rods (5.1, 5.2) the drive energy to be guided via the rocker (5) for positioning the third joint (3.3) in the working space, in order to move the arm boom (6) relative to the carousel (4).