Torque transfer in laterally engaging drive couplers exhibiting axial misalignment with driven couplers
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Solution Overview
Problem
Traditional torque transfer mechanisms are not well-suited for applications where machines engage laterally or with substantial axial misalignment, particularly in scenarios like robots moving laterally between stations, as they require precise axial alignment for reliable torque transmission.
Innovation Solution
An apparatus and method for torque transfer between mobile and stationary units that engage laterally, utilizing a drive coupler with a compliance mechanism to achieve first-order coaxial alignment and a matched geometry for mating members to accommodate misalignment, allowing torque transfer without permanent engagement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional axial engagement mechanisms are used for torque transfer, then reliable torque transmission is achieved, but precise axial alignment is required which is difficult to perform in lateral engagement scenarios
Solution Approach 1:
The patent inverts the traditional engagement approach by using lateral engagement instead of axial engagement. The drive coupler and driven coupler engage laterally with orthogonal axes, eliminating the need for precise axial alignment while maintaining reliable torque transmission through the inverted engagement geometry.
Solution Approach 2:
The patent changes the engagement parameter from axial to lateral direction. By modifying the engagement orientation and using orthogonal axes between drive and driven couplers, the system achieves torque transfer without requiring precise axial alignment, thus resolving the contradiction between reliability and ease of operation.
2Ease of operation
If lateral engagement is used to enable mobile unit movement, then ease of operation is improved, but axial misalignment occurs between drive and driven axes
Solution Approach 1:
The patent inverts the traditional coaxial engagement arrangement by using orthogonal axes. The drive axis and driven axis are perpendicular to each other, which allows lateral engagement and mobile unit movement while the inversion itself accommodates the misalignment that would otherwise be problematic.
Solution Approach 2:
The patent moves the engagement from a single-axis (axial) arrangement to a two-dimensional orthogonal arrangement. By introducing a second dimension with perpendicular axes, the system enables lateral engagement and mobility while the additional degree of freedom naturally accommodates axial misalignment between the drive and driven couplers.
3Adaptability or versatility
If compliance mechanism is added to accommodate misalignment, then adaptability is improved, but device complexity increases
Solution Approach 1:
The patent inverts the problem-solving approach by designing the engagement geometry itself to accommodate misalignment rather than adding separate compliance mechanisms. The orthogonal axis arrangement and lateral engagement geometry inherently tolerate axial misalignment, achieving adaptability without significantly increasing device complexity.
Data Source
Figure 1A
Figure 1B
Figure 2A~2G
AI summary
The present invention relates to transferring torque between a first unit, which is typically a mobile machine or a robot, and a second unit, which is typically a fixed or stationary machine. The units are arranged such that a drive coupler of the first unit designed for delivering torque about a drive axis can engage the driven coupler, which belongs to the second unit and has a driven axis, along an engagement direction that is nearly perpendicular to the direction of the driven axis. A lateral displacement mechanism is provided in the first unit to achieve a first-order coaxial alignment between the drive and driven axes. Additional measures such as compliance mechanisms are provided for improving engagement, coupling and reducing the level of axial misalignment in the apparatus and methods of the invention.