Gravity Compensation Assembly for Robot Waist Structure
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Solution Overview
Problem
Conventional gravity compensation structures in robot waist structures are complex, difficult to implement, and costly, with limited degrees of freedom, making them challenging to achieve precise human-like waist movement and quick malfunction response.
Innovation Solution
A gravity compensation assembly comprising a main frame assembly, an auxiliary frame assembly, and an elastic force providing assembly, which includes a center bar, fixing member, and elastic member, allowing for load compensation through elastic force adjustments and multi-degree of freedom movements such as pitch and roll rotations, enabling precise human-like waist movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional gravity compensation structure is used, then gravity compensation function is achieved, but the structure becomes complicated and manufacturing cost increases
Solution Approach 1:
The gravity compensation structure is divided into separate functional modules: a support structure for structural support, a first elastic member for primary gravity compensation, and a second elastic member for fine-tuning and additional compensation. This segmentation allows each component to be optimized independently, simplifying the overall structure while maintaining the gravity compensation function.
Solution Approach 2:
Elastic members are introduced as intermediary elements between the support structure and the load-bearing components. These elastic members serve as mediators that provide gravity compensation through their elastic deformation, replacing complex mechanical adjustment mechanisms with simpler elastic elements.
2Reliability
If a conventional gravity compensation structure is used, then gravity compensation is achieved, but manufacturing cost increases
Solution Approach 1:
The patent employs elastic members made from cost-effective materials that can be easily manufactured and replaced if needed. These elastic components are designed to be simple, inexpensive elements rather than complex precision mechanisms, reducing overall manufacturing cost while maintaining functional reliability.
Solution Approach 2:
The elastic members automatically adjust to compensate for gravity changes without requiring external control systems, motors, or sensors. This self-adjusting mechanism eliminates the need for expensive control electronics and actuators, significantly reducing manufacturing costs while maintaining the gravity compensation function.
3Reliability
If a conventional gravity compensation structure is used, then basic gravity compensation is achieved, but degrees of freedom are limited
Solution Approach 1:
The support structure is designed to accommodate multiple elastic members that can operate in different directions and planes. This multi-functional configuration allows the same basic structure to provide gravity compensation for various degrees of freedom, including pitch, roll, and yaw movements, enhancing adaptability without requiring entirely separate mechanisms for each degree of freedom.
4Reliability
If a conventional gravity compensation structure is used, then gravity compensation is achieved, but response to malfunction is slow
Solution Approach 1:
The elastic members continuously and automatically adjust their deformation to match gravity changes without requiring control systems or sensors. This self-regulating behavior enables immediate response to any malfunction or change in conditions, as the elastic deformation occurs instantaneously in response to force changes, eliminating delays associated with electronic control loops.
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 enables full gravity compensation, high degrees of freedom, and simplified structure, allowing for quicker responses during malfunctions, achieving precise human-like waist movement with improved precision and ease of implementation.
Implementation Method 1
an elastic member having one side coupled to the auxiliary rotation portion and the other side coupled to the fixing member, the elastic member configured to perform load compensation by an elastic force by being compressed with movement of the center bar according to movement of the main frame assembly
Data Source
AI summary
A gravity compensation assembly including a main frame having one side connected to a weight body to be supported, and the other side where an inner rotation portion and an outer rotation portion spaced apart from each other and having rotation axis in an x-axis direction are coupled, an auxiliary frame having one side rotatably connected to the inner rotation portion of the main frame, and the other side where an auxiliary rotation portion having a rotation axis in the x-axis direction is coupled, and an elastic force providing having one side rotatably connected to the outer rotation portion of the main frame, and the other side coupled to the auxiliary rotation portion of the auxiliary frame, and configured to perform load compensation by an elastic force when a center of gravity changes as a relative angle of the main frame and the auxiliary frame changes may be provided.