Horizontal Multijoint Robot With Nested Arms
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Solution Overview
Problem
Horizontal multijoint type robots have limited operating ranges due to structural constraints, resulting in inefficient movement paths and difficulties in arranging operating positions in limited spaces, requiring larger robot sizes for wider ranges.
Innovation Solution
The design features equal arm lengths for the first and second arms, allowing the second arm to overlap the first, and optionally a third arm, creating a circular operating area with a radius equal to the sum of the arm lengths, enabling 360-degree rotation and reducing moving paths to the shortest distance, with hollow joint shafts for concealed wiring.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the robot uses a conventional second arm structure that cannot rotate more than 360 degrees, then the robot structure is simple, but the operating area is limited to a doughnut shape
Solution Approach 1:
The second arm is designed to be nestable within the first arm, allowing the second arm to rotate more than 360 degrees by passing through the center of the first arm's rotation. This nesting configuration enables the robot to access the central area that would otherwise be inaccessible, transforming the operating area from a doughnut shape to a complete circular area.
2Adaptability or versatility
If the robot operating range is enlarged, then the working area increases, but the robot size must be enlarged in proportion
Solution Approach 1:
By making the second arm nestable within the first arm, the robot achieves a working range equal to the sum of both arm lengths without increasing the physical footprint. The nested configuration allows the arms to collapse into each other when not in use, maintaining a compact robot size while providing maximum operating radius when extended.
Solution Approach 2:
The invention utilizes the vertical dimension by allowing the second arm to pass through the horizontal plane of the first arm's rotation. This dimensional transition enables the second arm to achieve rotations greater than 360 degrees, effectively enlarging the working range without proportionally increasing the robot's horizontal footprint.
3Productivity
If the robot has limited operating range, then the robot structure is compact, but moving paths become lengthy and working time increases
Solution Approach 1:
The nestable second arm configuration eliminates dead zones and allows direct positioning anywhere within the circular operating area. This enables the robot to move directly between points without taking roundabout routes, shortening moving paths and reducing working time while maintaining a compact structure.
4Ease of operation
If the robot operating area is limited, then the robot is compact, but it is difficult to determine layout for effectively arranging positions
Solution Approach 1:
The nested arm configuration creates a complete circular operating area with no dead zones, providing uniform accessibility from all directions. This symmetrical operating area simplifies layout planning and allows effective arrangement of operating positions in limited spaces, as any point within the circle can be accessed directly.
Data Source
AI summary
A horizontal multijoint type robot is so constructed that it comprises a first arm connected through a first joint shaft to a base, a second arm connected through a second joint shaft to the first arm, and a working shaft provided rotatably and movably up and down on the distal end of the second arm, and that the arm length L1 of the first arm and the arm length L2 of the second arm are equal to each other so that the second arm is able to overlap the first arm.