Nested Conduit Routing for Robot Wrist Wire Bodies
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Solution Overview
Problem
Existing wire body processing structures for robots often interfere with peripheral devices when multiple working tools are attached to the distal end of a forearm, as the wire bodies for controlling these tools must extend through the forearm, leading to routing issues and potential interference.
Innovation Solution
A flexible double-tube conduit system where a first conduit is positioned along the axis from the forearm to the wrist, and a second conduit is disposed within the first conduit, allowing the first wire body to extend through the second conduit and the second wire body to extend through the space between the conduits, with an attachment flange member that secures and routes the wire bodies to prevent interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If wire bodies for multiple working tools extend through the forearm, then all tools can be controlled, but the wire bodies interfere with peripheral devices
Solution Approach 1:
The patent implements a nested conduit structure where a second conduit is disposed inside a first conduit. The first wire body extends through the second conduit while the second wire body extends through the space between the first and second conduits. This nesting arrangement allows multiple wire bodies to be routed through the same general path without interfering with peripheral devices, as the conduits are positioned along the rotational axis of the wrist where they do not interfere with the peripheral side of the forearm.
2Ease of operation
If wire bodies are routed through the forearm, then tools can be controlled, but the routing path shifts significantly when the wrist rotates
Solution Approach 1:
The patent employs flexible conduits that can dynamically adapt to wrist rotation. The first and second conduits are configured with flexibility to accommodate the rotational movement of the wrist about the first axis while maintaining stable routing. By positioning the conduits along the rotational axis and allowing them to flex rather than remain rigid, the system maintains stable wire body routing paths even as the wrist rotates, preventing excessive external forces from damaging the wire bodies.
3Adaptability or versatility
If multiple wire bodies are routed separately, then each tool can be controlled independently, but the structure becomes complex
Solution Approach 1:
The patent merges the routing paths of multiple wire bodies by using a combined conduit structure. Instead of providing separate conduits for each wire body, the first and second conduits are combined in a nested arrangement where both wire bodies share the same general routing path through the wrist. This merging approach maintains independent control of each working tool while significantly simplifying the overall structure compared to separate conduit arrangements.
Data Source
AI summary
Provided is a wire body processing structure for a robot having a wrist, a base end of which is connected to a forearm in a rotatable manner about a first axis and a distal end of which has a plurality of working tools attached thereto. The wire body processing structure includes a first flexible conduit disposed along the first axis from the forearm to the distal end of the wrist and also includes a second flexible conduit disposed longitudinally within the first conduit. A first wire body for one of the working tools is extended longitudinally through the second conduit. A second wire body for another one of the working tools is extended longitudinally through a space between the first conduit and the second conduit.