Manipulator Coupling Mechanism for Misalignment Compensation
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Solution Overview
Problem
Existing manipulators are complex and expensive, requiring multiple motors to transmit rotational and translational movements, and struggle with imperfect immobilization and misalignment issues during coupling and locking processes.
Innovation Solution
A manipulator design with an axially extendable arm and a temporary coupling member that uses a torque transmission shaft, a lock piece with radial locking projections, and a braking mechanism to transmit rotational and translational movements with only two motors, allowing for coupling, uncoupling, and locking functions while compensating for positional deviations and misalignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple motors are used to transmit rotational and translational movements, then the manipulator can achieve precise control of movements, but the device complexity and cost increase
Solution Approach 1:
The patent combines rotational and translational movement transmission into a single integrated mechanism. The torque transmission shaft simultaneously transmits both rotational movement from the rotary output shaft and translational movement from the linear output shaft, eliminating the need for separate motor systems for each movement type while maintaining precise control capability
Solution Approach 2:
The torque transmission shaft serves multiple functions: it transmits rotational movement, transmits translational movement, and provides a mounting structure for the locking piece. This multi-functional design reduces the overall number of components needed while maintaining full control capability over both movement types
2Device complexity
If a simple coupling mechanism is used, then the device complexity is reduced, but the reliability of coupling and locking deteriorates
Solution Approach 1:
The locking piece is pre-positioned on the torque transmission shaft with its locking projection ready to engage. The brake means is pre-configured to act on the locking piece when the arm is in the extended position, ensuring that locking action is automatically available without requiring additional complex control mechanisms
Solution Approach 2:
The locking piece acts as an intermediary element between the torque transmission shaft and the receiving member. It provides a simple yet reliable mechanical interface through its locking projection that engages with the receiving member, ensuring secure coupling while maintaining system simplicity
3Manufacturing precision
If the arm is rigidly fixed, then the manufacturing precision is improved, but the adaptability to positional deviations deteriorates
Solution Approach 1:
The locking piece is designed with rotational freedom on the torque transmission shaft, allowing it to dynamically adjust its angular position. This dynamic capability enables the locking mechanism to accommodate misalignment and positional deviations between the manipulator and receiving member while maintaining secure locking
Solution Approach 2:
The locking piece can change its angular parameter (rotation angle) relative to the torque transmission shaft to adapt to varying positional conditions. This parameter adjustment allows the system to tolerate manufacturing tolerances and installation misalignments without compromising locking reliability
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
Enables efficient, backlash-free transmission of rotational and translational movements, ensuring precise coupling and locking without play, and reducing the complexity and cost of the system by using fewer motors, while accommodating positional deviations and misalignment.
Implementation Method 1
a braking means, in the position of complete extension of the arm, acts on the locking part to prevent the rotation of the said locking part around the geometric axis (AA')
Data Source
Figure 1~3
Figure 2
Figure 4
AI summary
The manipulator (1) comprises an extendible arm equipped with a coupling element (9) that couples to a receiving element (2) for transmitting, to the former, rotational and/or translational movements along axis (AA'). Element (9) is supported by a shaft (8) that is set in rotation and translation by motors (4, 7) of the arm and is equipped with at least one projection (10) that can engage in at least one coupling cavity (20) of the element (2). A part (11) mounted in a translationally fixed manner on the shaft (8) but with a limited latitude of rotation on this shaft comprises at least one radial locking projection (12). When the arm is in a completely deployed position, the part (11) is rotationally immobilized by a brake and, by pivoting of the element (2) about AA', a projection (21) is reversed and facing the projection (12) which assures a translational joining between the element (2) and the manipulator.