Laterally Engaging Drive Coupler for Axial Misalignment
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Solution Overview
Problem
Traditional torque transfer mechanisms are not well-suited for applications where machines need to transfer torque laterally between mobile and stationary units, especially under conditions of axial misalignment, as they require precise axial actuation which is difficult to achieve in scenarios like robots moving between stations.
Innovation Solution
An apparatus and method for torque transfer between mobile and stationary units that engage laterally, using a drive coupler with a torque delivery drive and a driven coupler, where the drive coupler is moved orthogonally to achieve first-order coaxial alignment, and then rotated to couple and transfer torque, with compliance mechanisms and engagement features to adapt to misalignment and mitigate collisions.
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 actuation is required which is difficult to achieve in mobile applications with misalignment
Solution Approach 1:
Instead of engaging couplers axially along the torque transmission axis, the patent inverts the engagement direction to be lateral (orthogonal to the torque axis). The drive coupler is actuated laterally along the X-axis to engage with the driven coupler, while torque is transmitted along the Y-axis. This inversion eliminates the need for precise axial alignment during engagement.
Solution Approach 2:
The patent moves the engagement action from the traditional axial dimension (Y-axis) to a lateral dimension (X-axis). By engaging couplers in a different spatial dimension that is orthogonal to the torque transmission axis, the system accommodates axial misalignment between mobile and stationary units without compromising torque transfer reliability.
2Ease of operation
If lateral engagement is used to accommodate misalignment, then ease of operation improves, but axial misalignment between drive and driven axes must be tolerated
Solution Approach 1:
The patent changes the engagement parameters by switching from axial engagement to lateral engagement. This parameter change allows the system to tolerate axial misalignment (offset between drive and driven axes) while maintaining effective torque transfer. The lateral engagement direction is chosen specifically to be orthogonal to both the torque axis and the misalignment direction.
Solution Approach 2:
The lateral engagement mechanism serves multiple functions: it enables easy engagement between mobile and stationary units, accommodates axial misalignment, and still achieves reliable torque transmission. The drive coupler design integrates lateral actuation capability with torque transfer functionality in a single engagement action.
3Adaptability or versatility
If compliance mechanisms are added to adapt to misalignment, then adaptability improves, but device complexity increases
Solution Approach 1:
The drive coupler is designed with inherent compliance features that allow it to self-adjust to axial misalignment during lateral engagement. The coupling mechanism itself provides the adaptability needed to accommodate offset between drive and driven axes without requiring external compliance mechanisms or complex adjustment systems.
Data Source
AI summary
Techniques for transferring torque between a first unit, such as a mobile machine or a robot, and a second unit, such as 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 of the first unit achieves a first-order coaxial alignment between the drive and driven axes. Additional measures are provided for improving engagement, coupling and reducing the level of axial misalignment. Techniques disclosed are tolerant of imprecise alignment between the drive and driven couplers.