Eccentric Motor Flange Securing for Robot Joint Rigidity
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Solution Overview
Problem
Existing robot joint designs face challenges in maintaining rigidity and efficient torque transmission due to the placement of bolts and the coaxial alignment of motor and reducer, which can lead to reduced structural integrity and increased complexity.
Innovation Solution
The robot incorporates a flange securing portion at an eccentric position with respect to the reducer's center axis, allowing bolts to secure the motor flange and reducer in a configuration that avoids the hollow portion, ensuring firm contact and reduced bolt count, thereby enhancing rigidity and structural integrity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If bolts are disposed farther outside in radial direction than motor flange, then structural stability is improved, but device complexity increases and manufacturing becomes more difficult
Solution Approach 1:
The patent applies asymmetry by positioning the motor flange and bolts at an eccentric position relative to the reducer center axis. This asymmetric arrangement allows bolts to be disposed both inside and outside the motor flange radial position, optimizing structural stability while maintaining compact design and reducing complexity compared to traditional symmetric configurations.
2Ease of manufacture
If motor and reducer center axes are coaxially disposed, then alignment is simplified, but rigidity and torque transmission efficiency are reduced
Solution Approach 1:
The patent deliberately introduces asymmetry by eccentrically positioning the motor flange relative to the reducer center axis. This allows the motor shaft center line to be aligned with the reducer center axis for ease of assembly, while the offset flange position enables optimized bolt placement that enhances rigidity and torque transmission efficiency.
Solution Approach 2:
The motor flange serves as an intermediary element that mediates between the motor and reducer. By positioning this flange at an eccentric location, the patent enables both center axis alignment for easy assembly and optimized bolt placement for enhanced rigidity, resolving the contradiction between alignment simplicity and structural strength.
3Power
If bolts are disposed outside motor flange region, then torque transmission is improved, but manufacturing precision requirements increase
Solution Approach 1:
The eccentric positioning of the motor flange creates an asymmetric bolt arrangement where some bolts are inside and some are outside the motor flange radial position. This asymmetric configuration optimizes torque transmission by placing bolts at advantageous radial positions while maintaining manufacturability through standardized hole positions.
Data Source
AI summary
A robot includes one or more rotary joints, each of the rotary joints including a motor, a reducer that reduces the rotational speed of the motor, and a first member and a second member that are connected by the reducer and that are supported so as to be rotatable about a center axis of the reducer. The first member of at least one of the rotary joints is provided with a flange securing portion that secures a flange of the motor at an eccentric position with respect to the center axis of the reducer. Bolts that secure the first member to the reducer are disposed in a region in which the flange is disposed when viewed from a direction along the center axis.