Multi-joint Robot Asymmetric Joints Compact Footprint
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Solution Overview
Problem
Conventional robot manipulators have limited work envelopes and require a large footprint, making them inefficient for dense installations and interfering with other robots in compact spaces, especially when trying to work in a free posture or perform tasks like spot welding.
Innovation Solution
A robot manipulator design with a series of arm bodies and joints arranged with specific orthogonal rotation axes, allowing for a large work envelope and high degree of freedom while maintaining a compact footprint, enabling efficient use of space and reducing interference between robots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of moving object
If the robot manipulator is designed with conventional symmetric movable ranges about the first axis, then the robot can move closer to the workpiece from the upper side, but the motion range when moving around the workpiece is narrow and the footprint is large
Solution Approach 1:
The patent applies asymmetry by offsetting the third, fifth, and seventh joint shaft axes from the first vertical shaft axis while maintaining coaxial alignment in the vertical direction. This asymmetric arrangement creates an extended movable range that allows the robot to move around the workpiece more effectively, increasing the work envelope without proportionally increasing the footprint. The asymmetric joint configuration enables the manipulator to access areas that would be unreachable with symmetric designs.
Solution Approach 2:
The patent utilizes dimensional optimization by arranging joint shaft axes at specific offsets in the horizontal plane while maintaining vertical coaxial alignment. This creates a three-dimensional configuration that expands the work envelope in multiple directions simultaneously. The offset arrangement allows the robot to operate in a larger volume of space around the workpiece without requiring a larger base footprint.
2Area of stationary object
If multiple robots are arranged with high density in compact spaces, then space utilization is improved, but robots interfere with each other and have difficulty working in free posture
Solution Approach 1:
The patent segments the robot system into seven distinct joint shafts with specific functional assignments. The first joint shaft provides vertical rotation, while the third, fifth, and seventh joint shafts (offset from the first) provide additional rotational degrees of freedom. This segmentation of motion functions allows the manipulator to achieve complex postures and navigate around obstacles in compact spaces without interfering with neighboring robots.
Solution Approach 2:
By offsetting the third, fifth, and seventh joint shaft axes from the first vertical shaft axis while maintaining vertical coaxial alignment, the patent creates a multi-dimensional configuration that expands the robot's operational freedom. This dimensional arrangement allows the manipulator to work in free postures within compact spaces, accommodating high-density robot installations without sacrificing adaptability.
3Area of moving object
If the robot manipulator is arranged at a certain distance from the workpiece to ensure motion range, then the movable range is sufficient, but the installation area increases
Solution Approach 1:
The patent achieves extended motion range within a compact installation area by utilizing offset joint shaft axes arranged in three dimensions. The third, fifth, and seventh joint shafts are offset from the first vertical shaft axis, creating a configuration that maximizes the work envelope in the horizontal plane without increasing the vertical footprint. This allows the robot to maintain sufficient motion range while being installed closer to the workpiece.
Data Source
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AI summary
The present invention provides a robot manipulator and a system capable of having a large main work envelope and holding a posture of the robot manipulator with a high degree of freedom while an installation position of the manipulator is not changed. The present invention provides a robot manipulator (1) including a plurality of joint shafts. If the robot manipulator (1) extends vertically with respect to a rotation center of a first joint shaft (J1) that rotates in a horizontal plane, a rotation center of another joint shaft that rotates in another horizontal plane is offset from the rotation center of the first rotation shaft (J1). By using the robot manipulator (1), the robot manipulator (1) is arranged in a space near a good.