Hollow Robot Joint with Planar Encoder for Torque and Space Optimization
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Solution Overview
Problem
Existing hollow-type robot joints are not adaptable to robot arms of different dimensions, leading to increased costs and inefficiencies due to complex conductor arrangement structures and the need for custom components.
Innovation Solution
A hollow-type robot joint design featuring a hollow shaft, first and second gears, motors, an encoder, and a digital signal processor, where the motors can output power positively or negatively, and the encoder and digital signal processor are disposed on the same plane to reduce arrangement space and allow for adjustable torque and speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If existing hollow-type robot joints are designed with circular structures and custom components for different dimensions, then each robot arm can achieve its specific performance requirements, but the cost increases and components cannot be shared across different robot arms
Solution Approach 1:
The patent applies universality by designing a standardized robot joint structure that can be used across multiple robot arms with different dimensions. The joint uses common components including a hollow shaft with gear, multiple motors arranged in a circle, encoder, and digital signal processor. This standardized design allows the same joint structure to serve different robot arm configurations, reducing manufacturing costs and enabling component sharing while maintaining performance requirements through adjustable motor numbers and arrangements.
2Force
If motors are arranged surrounding the hollow shaft with gears engaged, then torque force is enhanced and speed reduction is minimized, but the arrangement space increases
Solution Approach 1:
The patent applies dimensional optimization by arranging motors in a circular pattern surrounding the hollow shaft, utilizing radial space efficiently. The encoder and digital signal processor are positioned on the same plane to reduce axial height. This spatial arrangement maximizes torque output while minimizing the overall footprint of the joint assembly, effectively resolving the contradiction between torque enhancement and space reduction.
3Area of stationary object
If the encoder and digital signal processor are disposed on the same plane surface, then the arrangement space is reduced, but the complexity of signal routing may increase
Solution Approach 1:
The patent merges the encoder and digital signal processor onto the same plane surface, consolidating control components to reduce the overall arrangement space of the robot joint. This co-location simplifies the structural design and reduces the joint's footprint, while the internal integration manages signal routing complexity through compact arrangement.
4Manufacturing precision
If motors are divided into groups outputting power positively and negatively, then backlash is reduced during high-speed to stop transitions, but the control system complexity increases
Solution Approach 1:
The patent segments the motor group into multiple motors that can output power in different directions (positively and negatively). This segmentation allows precise control during high-speed to stop transitions by coordinating motors to minimize backlash effects. The digital signal processor manages the coordinated control of these motor groups, achieving high positioning accuracy while distributing the control complexity across multiple manageable motor units.
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
This design enhances torque force and reduces speed reduction, minimizes backlash during high-speed to stop transitions, and allows for customization of motor numbers to meet specific demands, thereby improving positioning accuracy and reducing costs by enabling the use of standardized components across different robot arm dimensions.
Implementation Method 1
The encoder is disposed at a side of one of the motors opposite to the second gears. The signal detected by the encoder is sent to the digital signal processor for driving the motors.
Implementation Method 2
The motors are arranged surrounding the hollow shaft. Each of the motors has a rotating shaft. The second gears are fixed on the rotating shaft and are engaged with the first gear, so that the hollow shaft can be rotated with the second gears driven by the motors.
Data Source
AI summary
A robot joint utilized in a robot arm is disclosed. The robot joint includes a hollow shaft, a first gear, plural motors, plural second gears, an encoder, and a digital signal processor. The first gear is fixed on the hollow shaft. The motors are arranged surrounding the hollow shaft. Each of the motors has a rotating shaft. The second gears are fixed on the rotating shaft and are engaged with the first gear, so that the hollow shaft can be rotated with the second gears driven by the motors. The encoder is disposed at a side of one of the motors opposite to the second gears. The signal detected by the encoder is sent to the digital signal processor for driving the motors. A robot arm using the robot joint is also disclosed.