Robotic Joint Link Structure With Movable Housing Load Transfer
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Solution Overview
Problem
Conventional link structures for robotic joints, such as knees and elbows, experience increased load when driven by a linear motion mechanism, which can lead to mechanical stress and inefficiency.
Innovation Solution
A link structure comprising a first link with a movable target member, a movement mechanism fixed to the first link that enables linear motion, and an action part to act on a second link, reducing the load on the movement mechanism by transferring stress to the housing, thereby downsizing and simplifying the mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a linear motion mechanism is used to drive links for rotary joints, then the joint function is achieved, but the load on the mechanism increases
Solution Approach 1:
The patent introduces a movable housing as an intermediary component between the linear motion mechanism and the second link. The housing receives the driving force from the linear motion mechanism and transmits it to the second link, thereby mediating the force transmission and reducing the direct load on the linear motion mechanism while maintaining the joint's rotational function
2Volume of moving object
If the load on the movement mechanism is reduced, then the mechanism can be downsized, but the structural complexity increases
Solution Approach 1:
The movable housing serves multiple functions simultaneously: it acts as a structural support, a force transmission element, and a mounting platform for the linear motion mechanism. This multi-functionality allows the housing to reduce mechanism size while avoiding the need for additional separate components that would increase structural complexity
3Volume of moving object
If the link structure is made more compact, then the robot's overall size is reduced, but the stiffness may decrease
Solution Approach 1:
The patent employs a composite structural design where the housing and its internal components work together as an integrated system. The housing provides external structural support while internal elements handle specific force transmissions, creating a composite structure that maintains high stiffness in a compact form factor
Data Source
AI summary
A link structure (1) includes: a first link (2); a target member to be moved (housing) (3) that is provided in the interior of the first link (2), and that is movable in the interior of the first link (2); a movement mechanism (4) that is fixed to the first link (2), and that is configured to cause the target member to be moved (3) to move in movement directions (M1, M2) along the first link (2) in response to power of a power part; and an action part (6) that is provided to the target member to be moved (3), and that is configured to act on a movement of a second link (8) mounted onto the first link (2).