Elastic Line Return Element for Predictable Robot Cable Routing
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Solution Overview
Problem
Existing articulated arm robots face challenges with line management, as current guiding devices create unpredictable interference contours, high tensile loads, and limited direction compensation, compromising flexibility and lifespan.
Innovation Solution
A return device with an elastic swing element and guiding device that allows multidimensional compensation and minimizes interference by using a lightweight, low-complexity design, enabling axial and lateral deformability and guiding lines without significant restriction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a loop is provided to enable line length change, then the line can adapt to robot position changes, but the line creates an unpredictable interference contour that may collide with application components
Solution Approach 1:
The patent employs a flexible membrane structure that can deform elastically to accommodate line length changes while maintaining a predictable, contained form factor. This membrane acts as a flexible shell that guides the line through defined paths, preventing unpredictable interference contours while still allowing necessary length adaptation during robot movement.
Solution Approach 2:
The invention transitions from one-dimensional linear compensation to multi-dimensional spatial compensation by creating a three-dimensional membrane structure. This allows the line to be compensated in multiple directions simultaneously, maintaining predictability while adapting to complex robot position changes in space.
2Device complexity
If one-dimensional guiding devices are used for length compensation, then the structure is simpler, but high loads act on the lines reducing their lifespan and limiting movement combinations
Solution Approach 1:
The patent introduces multi-dimensional compensation capabilities by designing a membrane structure that can deform in multiple directions and degrees of freedom. This allows load distribution across multiple spatial dimensions, significantly reducing the tensile load on individual line segments compared to one-dimensional guidance, thereby extending line lifespan and enabling broader movement combinations.
3Ease of operation
If existing guiding devices are used, then line guidance is provided, but they generate large interference contours particularly at robot hand sections
Solution Approach 1:
The patent utilizes a flexible membrane structure that can be designed with a compact form factor, allowing effective line guidance within a minimized spatial envelope. This membrane-based approach creates a smaller interference contour compared to rigid guiding devices, particularly beneficial at robot hand sections where space is constrained.
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
The solution provides predictable line behavior, reduces interference contours, allows complex movement sequences, and extends the lifespan of the articulated arm robot by minimizing loads and collisions, while optimizing accessibility and reducing maintenance costs.
Implementation Method 1
The return device (100) comprises an elastic, elongate return element (1) for returning the line (10) and, in particular, for length compensation and/or for direction compensation for the line (10)
Data Source
AI summary
A return device for returning at least one line, having an elongated return element for returning the at least one line, a mounting device for mounting the return element, at an articulated arm robot, and a guiding device for guiding the at least one line. The return device stands out in particular by the fact that the return element is designed as an elastic swing element. The disclosure also concerns an articulated arm robot having such a return device.