Linkage System With Integrated Bearing Joints For Robot Rigidity
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Solution Overview
Problem
Existing linkage systems for articulated robots face challenges with low rigidity, poor assemblability, and limited installation freedom for rotary transmission components and actuators due to a cantilevered structure and complex shapes, which restricts their ability to handle high loads and operate efficiently in three-dimensional spaces.
Innovation Solution
A linkage system with three or more link mechanisms, each consisting of end links, center links, and four revolute joints with bearings at both ends, allowing for detachable components and improved producibility, along with rotation angle sensing means and actuators connected through rotary transmission components to achieve high rigidity and easy installation, enabling efficient operation with three degrees of freedom.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a cantilevered structure with revolute joints is used to connect link hubs and links, then the mechanism achieves mobility and operational range, but the rigidity of the link mechanism becomes insufficient
Solution Approach 1:
The invention merges the bearing support function into the revolute joint structure itself. The bearings are integrated into the link hubs to provide support at both ends of each revolute joint, combining the rotational movement function with the structural support function. This integration strengthens the link mechanism by eliminating the cantilevered structure while maintaining full mobility and operational range.
2Strength
If the link mechanism uses complex-shaped components for revolute joints and connections, then the structural integrity and rigidity are improved, but the assemblability and ease of production deteriorate
Solution Approach 1:
The invention segments the link mechanism into modular components: link hubs with integrated bearings, end links, and center links. Each component can be manufactured separately with standardized interfaces, improving both production ease and assembly processes. The bearing integration into link hubs creates self-contained modules that maintain structural integrity while simplifying the overall assembly.
Solution Approach 2:
The link hubs serve multiple functions: they provide rotational joints, integrate bearing support structures, and serve as connection points for links. This multi-functionality reduces the number of separate components needed, simplifying both manufacturing and assembly while maintaining the required structural strength and rigidity.
3Volume of moving object
If the space within the link mechanism is used for disposing rotary transmission components and actuators, then the external dimensions are reduced, but the installation freedom and freedom of installation deteriorate
Solution Approach 1:
The invention redistributes components along the longitudinal axis of the mechanism rather than confining them to the limited internal space. Rotary transmission components and actuators are positioned along the length of the link mechanism, utilizing the longitudinal dimension for component placement. This approach maintains compact external dimensions while providing adequate installation freedom and accessibility for maintenance.
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
The solution enhances the rigidity and assemblability of the linkage system, allowing for compact design, easy production, and efficient operation with high precision and speed in three-dimensional spaces, while enabling the installation of necessary components like actuators and sensors, thereby improving the system's overall performance.
Implementation Method 1
each of the revolute joints of the link mechanism includes bearings that support at both ends of the revolute joint
Data Source
AI summary
A linkage system which offers high rigidity and good assemblability and producibility, and enables parts such as rotary transmission components and actuators to be readily installed. A linkage system includes an input member disposed on an input side, an output member disposed on an output side, and three or more link mechanisms, each link mechanism consisting of end links rotatably coupled to the input member and the output member, respectively, a center link rotatably coupled to the end links on the input side and the output side, and four revolute joints by which the end links are rotatably coupled to the input and output members, and to the center link. The link mechanism being geometrically identical with respect to a center cross-sectional plane relative on the input and output sides. Each of the revolute joints of the link mechanism includes bearings that support at both ends of the revolute joint.