Manipulator Joint Drive Unit Gravity Alignment
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Solution Overview
Problem
Existing manipulator devices face accuracy and wear issues due to high torques and moments acting on joints, which are exacerbated by mechanical gears and the arrangement of electromagnetic drive means, leading to reduced precision and increased component wear.
Innovation Solution
The design includes a drive unit with a center of gravity aligned with the arm bodies' center of gravity, transverse to the drive axis, and the use of bearings and electromagnetic direct drives, along with scaffold-like support means and a cavity for reduced weight and improved force absorption, and a symmetrical layout to minimize torsional forces and enhance stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If electromagnetic drive means are arranged on the manipulator arm with drive axis extending transversely to the longitudinal direction of the arm body, then the accuracy of positioning is improved, but the structure becomes more complex
Solution Approach 1:
The electromagnetic drive means is nested within the hollow space of the arm body, with the stator and rotor arranged concentrically around the drive axis. This nesting approach allows the drive unit to be integrated into the arm structure without significantly increasing external dimensions, thereby improving positioning accuracy while controlling structural complexity.
Solution Approach 2:
The drive axis is oriented transversely to the longitudinal direction of the arm body, representing a dimensional change from conventional longitudinal drive arrangements. This transverse orientation allows the center of gravity of the drive means to be aligned with the center of gravity of the arm body system, reducing moments and improving positioning accuracy.
2Adaptability or versatility
If mechanical gears are used to control the various axes, then the freedom of movement is increased, but the accuracy of arrangement is limited due to manufacturing tolerances
Solution Approach 1:
The invention extracts and eliminates the mechanical gear transmission elements from the drive system. By using direct electromagnetic drive means with transverse drive axes, the patent removes the source of gear-related manufacturing tolerance errors while maintaining multi-axis freedom of movement through the electromagnetic actuators.
3Force
If the drive unit is arranged between the two arm bodies with centered gravity alignment, then moments and torsional forces on the joint are reduced, but the device complexity increases
Solution Approach 1:
The drive unit is positioned and configured so that the center of gravity of the drive means aligns with the center of gravity of the arm body system. This gravity alignment creates a counterbalancing effect that reduces moments and torsional forces acting on the joint, thereby reducing component wear and improving 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
This configuration enhances the accuracy and stability of the manipulator device by reducing moments and torsional forces on joints, improving alignment, and allowing for a more compact and lightweight design with reduced component wear, while also simplifying the need for additional measuring elements.
Implementation Method 1
at least one electromagnetic drive means arranged on the manipulator arm in the region of the joint and assignable or assigned to the joint, and having at least one stator arranged in a rotationally fixed manner on one of the two arm bodies and at least one rotor arranged in a rotationally fixed manner on the other of the two arm bodies
Data Source
Figure 1
Figure 2
AI summary
The invention relates to a locking device (2) for a manipulator, such as an industrial robot, in particular with direct drive, comprising at least one receiving unit (4) which is rotationally fixed to a first manipulator arm (6) of the manipulator, comprising at least one locking unit (8) which is rotationally fixed to a second manipulator arm (10) of the manipulator, which is movable relative to the first manipulator arm (6) via a joint (14) about a rotational and/or pivoting axis (16) by means of a manipulator drive (12), in particular a direct drive, and comprising at least one drive unit (18) by which the locking unit (8) can be moved from a release position, in which the first manipulator arm (6) and the second manipulator arm (10) are released for movement, in particular rotation, relative to each other, to a locking position, in which the locking unit (8) is moved into the receiving unit (4) transversely to the direction of movement.in particular the direction of rotation about the axis of rotation and/or pivoting (16), forming a rear grip, and fixes the first manipulator arm (6) and the second manipulator arm (10) against movement, in particular about the axis of rotation and/or pivoting (16), relative to each other.